TY - GEN
T1 - An Open-Source Mechanical Design of Alaris Hand
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Nurpeissova, Ayaulym
AU - Tursynbekov, Talgat
AU - Shintemirov, Almas
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - 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. Combination of design improvements and solutions, discussed in the paper, are implemented in a functional robotic hand prototype with powerful grasping capabilities, which utilizes off-the-shelf inexpensive components and 3D printing technology ensuring the hand low manufacturing cost and replicability. The open-source mechanical design of the presented ALARIS robotic hand is freely available for downloading from the authors' research lab web-site https://www.alaris.kz and https://github.com/alarisnu/alaris_hand.
AB - 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. Combination of design improvements and solutions, discussed in the paper, are implemented in a functional robotic hand prototype with powerful grasping capabilities, which utilizes off-the-shelf inexpensive components and 3D printing technology ensuring the hand low manufacturing cost and replicability. The open-source mechanical design of the presented ALARIS robotic hand is freely available for downloading from the authors' research lab web-site https://www.alaris.kz and https://github.com/alarisnu/alaris_hand.
UR - http://www.scopus.com/inward/record.url?scp=85125439475&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85125439475&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561977
DO - 10.1109/ICRA48506.2021.9561977
M3 - Conference contribution
AN - SCOPUS:85125439475
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1177
EP - 1183
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -