Optimal Design of a Five-Bar Finger with Redundant Actuation


In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested Optimal sets of actuator locatiom and link lengths for the cases of minimum actuator, one, two, and three redundant actuators are obtained by employing a composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio, Eventually, several finger-conjgurations optimized for special performance indices are illustrated.

DOI: 10.1109/ROBOT.1998.680622

12 Figures and Tables

Cite this paper

@inproceedings{Lee1998OptimalDO, title={Optimal Design of a Five-Bar Finger with Redundant Actuation}, author={Jai Hoon Lee and Byung-Ju Yi and Sang-Rok Oh and Il Hong Suh}, booktitle={ICRA}, year={1998} }