An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand
Ayaulym Nurpeissova Talgat Tursynbekov Almas Shintemirov Ayaulym Nurpeissova Talgat Tursynbekov Almas Shintemirov
This paper presents a new open-source mechanical design of a 6-DOF anthropomorphic ALARIS robotic hand that can serve as a low-cost design platform for further customization and utilization for research and educational purposes. The presented hand design employs linkage-based three-phalange finger and two-phalange adaptive thumb designs with non-backdrivable worm-and-rack transmission mechanisms. ...