| 摘要 |
<p>A robotic end effector comprising: a frame portion defining a base Cartesian coordinate reference frame, three finger members and a thumb member. The base portion represents the palm of a human hand. The finger members comprise distal, medial and proximal portions and the thumb member comprises distal and proximal portions. Each member is attached to the frame portion by its proximal portion. The finger members have two degree of freedom joints where the proximal portions join the palm region of the hand. These joints allow rotation around an axis coming out of the plane of the palm. This allows the fingers to splay out. The thumb member has a rotational joint, the axis of rotation of which is parallel to the plane of the palm, allowing the thumb to roll over towards the palm. Rotation around the axis of the thumbs proximal portion is also allowed. Where a digit has N joints, it is actuated by N+1 tendons, operating on a motor drive and capstan arrangement. A rotary position sensor is used to sense the position of the capstan.</p> |
