Robotics and Computer-integrated Manufacturing
Abstract Today, most commercially available robots are equipped with grippers which have two or three rigid fingers. Practical experience has shown that such simplified grippers represent a serious limiting factor for the application of robots to more complex tasks. In order to overcome these difficulties, a gripper of anthropomorphic structure has been developed—the robot hand. This device enables the realization of all basic grasp modes although it is controlled only by three servomotors. The hand is equipped with two mechanisms for selfadaptability which provide for a safe and reliable grasp of the target. The anthropomorphic hand structure is suitable for the implementation of expert control systems. This paper describes the mechanical construction of the hand and its functional performance.