NASA NTRS · 19890000566
Remote-Manipulator Hand With Data-Processing Ability
Abstract
A "smart" hand for remote manipulator not only senses forces acting on it and detects presence of objects in immediate vicinity but also processes sensory data and controls its gripping claws. Hand reduces computational load on control computer of manipulator system. Includes wrist body and two opposing jaws with sets of claws that mesh with each other. Jaws of hand open as wide as 8.8 cm. Brushless dc motor operates claws through bevel-gear drive train and pair of ball screws. Maximum grip force 540 N, or about 120 lb.
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Bejczy, Antal K., Primus, Howard C., Scheinman, Victor D.. 1989-11-01. Remote-Manipulator Hand With Data-Processing Ability. https://ntrs.nasa.gov/citations/19890000566
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