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Title: turbine

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Subject: Technology
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Date: August 31, 1999
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Length: 28 / 8383
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One additional degree of freedom in the palm. In total the hand has 13 degrees of freedom. Mechanics ? Four identical fingers with four joints and three degrees of freedom each and an aluminum open skeleton structure with injection molded plastic shells ? bevel gear in the base joint Motion ranges extension / flexion proximal joint - 55° / 75° abduction / adduction proximal joint ± 37° extension / flexion medial and distal joint - 20° / 105° Link lengths proximal link 75 mm medial link 40 mm distal link 40 mm Forces/Torques active force perpendicular to the stretched fingertip: 30 N Speed approximately 360°/s for each joint Weight a single finger: 375 g the complete hand: 1800 g Electronics ? Sensor electronics located directly beside the sensors ? A/D-conversion in each finger link...

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One additional degree of freedom in the palm. In total the hand has 13 degrees of freedom. Mechanics ? Four identical fingers with four joints and three degrees of freedom each and an aluminum open skeleton structure with injection molded plastic shells ? bevel gear in the base joint Motion ranges extension / flexion proximal joint - 55° / 75° abduction / adduction proximal joint ± 37° extension / flexion medial and distal joint - 20° / 105° Link lengths proximal link 75 mm medial link 40 mm distal link 40 mm Forces/Torques active force perpendicular to the stretched fingertip: 30 N Speed approximately 360°/s for each joint Weight a single finger: 375 g the complete hand: 1800 g Electronics ? Sensor electronics located directly beside the sensors ? A/D-conversion in each finger link...

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