The Stewart Hand: A Highly Dexterous, Six-Degrees-of-Freedom Manipulator Based on the Stewart-Gough Platform
Connor M. McCann, Vatsal Patel, Aaron M. Dollar
Abstract
In this work, the design, modeling, dimensional synthesis, and experimental characterization of a dexterous robotic hand based on the Stewart-Gough parallel manipulator are presented. The mechanism consists of three parallel linkage fingers with six prismatic actuators that control manipulation. An additional actuator maintains stable grasping forces. A computational model to predict the hand's workspace is then utilized to determine the optimal design parameters that maximize the workspace size and manipulability. A physical prototype based on the optimized parameters is built and experimentally characterized to assess its performance (Figure 1).
Topics & Concepts
Stewart platformWorkspaceActuatorParallel manipulatorManipulator (device)Mechanism (biology)KinematicsSimulationComputer scienceControl engineeringControl theory (sociology)EngineeringLinkage (software)Degrees of freedom (physics and chemistry)RobotArtificial intelligenceControl (management)EpistemologyQuantum mechanicsChemistryGeneClassical mechanicsBiochemistryPhilosophyPhysicsRobot Manipulation and LearningSoft Robotics and ApplicationsRobotic Mechanisms and Dynamics