Conference Proceeding

The design and development of the DIST-Hand dextrous gripper

DIST, Genoa Univ.
06/1998; DOI:10.1109/ROBOT.1998.680623 ISBN: 0-7803-4300-X pp.2075 - 2080 vol.3 In proceeding of: Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT Presents the first prototype of the DIST-Hand dextrous gripper.
DIST-Hand is a 4-fingered tendon driven device with 16 degrees of
freedom, designed for experiments in the area of grasping control, and
tele-manipulation. The current version of the gripper is lightweight and
can be easily installed on the various existing robots. The paper
outlines the kinematic and structural characteristics of the hand.
Furthermore, some general methodological issues addressed during the
design phase are discussed

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Keywords

16 degrees
 
4-fingered tendon
 
current version
 
DIST-Hand
 
DIST-Hand dextrous gripper
 
first prototype
 
general methodological issues
 
grasping control
 
gripper
 
robots
 
structural characteristics
 

A. Caffaz