Development of Anthropomorphic Robot Hand SKK Robot Hand I

• Published in: Journal of mechanical science and technology Vol. 17; no. 2; pp. 230 - 238
• Main Authors: KANG, Taehun, CHOI, Hyoukryeol, KIM, Moonsang
• Format: Journal Article
• Language: English
• Published: Seoul 대한기계학회 01.02.2003; Korean Society of Mechanical Engineers; Springer Nature B.V
• Subjects: Applied sciences; Computer science; control theory; systems; Construction; Control theory. Systems; Demand; Drives; End effectors; Exact sciences and technology; Hardware; Human; Linkage mechanisms, cams; Marketing; Mechanical engineering. Machine design; Modular design; Robotics; Robots; Universal joints; Gripping; Modular design; Gripper; Linkage mechanism; Hand; Modeling; Universal joint; Robotics
• ISSN: 1738-494X; 1226-4865; 1976-3824
• DOI: 10.1007/BF02984394

In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.