Tham khảo tài liệu 'grippers in motion - the fascination of automated handling tasks - wolf part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Evolution or Revolution Barret Hand 2 Hand arm integration Modular Abilities Gripping Number of fingers 3 Number of links 9 Number of joints 8 Degrees of freedom 4 Palm Yes Size compared to human hand Equal Sensors optical rotary transducers in the motors strain gauge bridges at the finger tips Reference w. T. Townsend BarretTechnology Inc. 1988 The Barret Hand has been constantly improved over the past years and is currently marketed and distributed by SCHUNK in Germany. In 1988 it was already introduced as a modular gripper and its functionality and applications are detailed in Chapter 3. Robonaut Hand Hand arm integration Integrated Abilities Internal manipulation Number of fingers 5 Number of links 22 Number of joints 22 Degrees offreedom 14 Palm Yes Size compared to human hand Equal Sensors precise position transducers in the joints rotary transducers in the motors tactile sensors being developed Reference . Lovhik . Diftler NASA 1999 The Robonaut Hand is one of the first to be designed for applications in space. According to NASA the highest demands on the materials used such as extreme temperature resistance distinguish this hand from all hands produced so far. Even eventual gas emissions by the hand and their influence on other space systems were taken into consideration. 42 The Robonaut Hand was built on the basis of integrated kinematics and is very human-like in size and mobility with its more than 14 degrees of freedom. It is able to use a screwdriver and even grasps small objects with a pair of tweezers. Hand arm integration Modular Abilites Internal manipulation Number of fingers 4 Numbers of links 18 Number of joints 17 Palm Yes Degrees offreedom 13 Size compared to human hand Larger Sensors potentiometer in the joints rotary transducers in the motors 6-axis force-torgue-sensor finger tip torgue momentsensors in eachjoint Rererence Butterfass Hirzinger etal DLR 2004 DLR Hand The DLR Hand II by the DLR Institute of Robotics and Mechatronics .
