Towards a Design Optimization Method for Reducing the…面向减少的设计优化方法.pdfVIP

Towards a Design Optimization Method for Reducing the Mechanical Complexity of Underactuated Robotic Hands Frank L. Hammond III, Member, IEEE, Jonathan Weisz, Andrés A. de la Llera Kurth, Peter K. Allen, Member, IEEE, and Robert D. Howe, Senior Member, IEEE  Abstract—Underactuated compliant robotic hands exploit passive mechanics and joint coupling to reduce the number of actuators required to achieve grasp robustness in unstructured environments. Reduced actuation