The overall design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) for harvesting horticulture products is presented. Ca.U.M.Ha. shows an anthropomorphic design incorporating four underactuated finger mechanisms and a simplified contrasting thumb, which are all joined to a rigid palm. The pneumatic cylinders of the articulated fingers are operated in parallel in order to give an additional auto-adaptability on the object to grasp. An application of Ca.U.M.Ha. for grasping different shapes of apples is presented.

Overall design of Ca.U.M.Ha. robotic hand for harvesting horticulture products

FIGLIOLINI, Giorgio;REA, Pierluigi
2006

Abstract

The overall design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) for harvesting horticulture products is presented. Ca.U.M.Ha. shows an anthropomorphic design incorporating four underactuated finger mechanisms and a simplified contrasting thumb, which are all joined to a rigid palm. The pneumatic cylinders of the articulated fingers are operated in parallel in order to give an additional auto-adaptability on the object to grasp. An application of Ca.U.M.Ha. for grasping different shapes of apples is presented.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/6789
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