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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 2, issue 1
Mech. Sci., 2, 9-15, 2011
https://doi.org/10.5194/ms-2-9-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 2, 9-15, 2011
https://doi.org/10.5194/ms-2-9-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

  08 Feb 2011

08 Feb 2011

Design and performance assessment of an underactuated hand for industrial applications

C. Meijneke, G. A. Kragten, and M. Wisse C. Meijneke et al.
  • Faculty of Mechanical, Maritime and Materials Engineering, Dept. of BioMechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands

Abstract. The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2, demonstrating how the design was optimized for its intended application area and how the hand was simplified to make it commercially attractive. Performance tests show that the DH-2 has a payload of 2 kg for an object range of 60 to 120 mm, it can close or open within 0.5 s, and it only uses open-loop control by means of the input voltage of the motor. The results demonstrate that the industrial need of a simple, cheap and effective robotic hand can be achieved with the principle of underactuation and the use of conventional components.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

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