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.
[1]
Paul Ciprian Patic,et al.
THE BARRETTHAND GRASPER - PROGRAMMABLY FLEXIBLE PART HANDLING AND ASSEMBLY
,
2006
.
[2]
Clément Gosselin,et al.
Underactuated Robotic Hands
,
2008,
Springer Tracts in Advanced Robotics.
[3]
Just L. Herder,et al.
Ability to hold grasped objects by underactuated hands: Performance prediction and experiments
,
2009,
2009 IEEE International Conference on Robotics and Automation.
[4]
J. Napier.
The prehensile movements of the human hand.
,
1956,
The Journal of bone and joint surgery. British volume.
[5]
Just L. Herder,et al.
A proposal for benchmark tests for underactuated or compliant hands
,
2010
.