Abstract
We propose a versatile robot hand such that the handling force and the rigidity of the prehension system are adjustable with fingers control. The hand has three fingers which are driven by three individual motors through coil springs. Arbitrary prehension characteristics are obtained by synchronizing the motor movements with the finger movements. Static and dynamic prehension characteristics are formulated and the synthesis problems are discussed in order to obtain desirable prehension characteristics. Further control scheme is shown for some applications to assembly tasks of mechanical parts. Those theoretical results are verified by experiments and the versatility of such a robot hand is confirmed.
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