In this work, the design, modeling, dimensional synthesis, and experimental characterization of a dexterous robotic hand based on the Stewart-Gough parallel manipulator are presented. The mechanism consists of three parallel linkage fingers with six prismatic actuators that control manipulation. An additional actuator maintains stable grasping forces. A computational model to predict the hand's workspace is then utilized to determine the optimal design parameters that maximize the workspace size and manipulability. A physical prototype based on the optimized parameters is built and experimentally characterized to assess its performance (Figure 1).

中文翻译：

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Stewart Hand：基于 Stewart-Gough 平台的高度灵巧的六自由度机械手


在这项工作中，介绍了基于斯图尔特-高夫并联机械手的灵巧机械手的设计、建模、维度综合和实验表征。该机构由三个平行连杆手指和六个控制操纵的棱柱形执行器组成。附加执行器可保持稳定的抓握力。然后利用预测手的工作空间的计算模型来确定最大化工作空间尺寸和可操作性的最佳设计参数。构建了基于优化参数的物理原型并通过实验表征来评估其性能（图 1）。