Kinematics of Three-Fingered Dexterous Hands Driven by Pneumatic Artificial Muscle Based on Vector Product Method

For decades, many countries have developed a variety of multifingered dexterous hands. However, most of the multi-finger-fingers that have come out at present aim to achieve high dexterity, with a large number of joints, a very complex structure, high degree of freedom, tedious control algorithm and high cost, which is unrealistic for practical application. Therefore, this paper designed an artificial muscle-driven[1] three-finger dexterous hand, which has good flexibility[2], very light quality, large input-output ratio, low manufacturing cost, can complete complex grasping and operating tasks, high dexterity advantages.