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Overall design of Ca.U.M.Ha. robotic hand for harvesting horticulture products

Published online by Cambridge University Press:  31 October 2005

Giorgio Figliolini  and
Pierluigi Rea
Giorgio Figliolini
Affiliation:
LARM (Laboratory of Robotics and Mechatronics) DiMSAT – University of Cassino, G. Di Biasio 43 – 03043 Cassino (Fr) (Italy)
Pierluigi Rea
Affiliation:
LARM (Laboratory of Robotics and Mechatronics) DiMSAT – University of Cassino, G. Di Biasio 43 – 03043 Cassino (Fr) (Italy)
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Abstract

The overall design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) for harvesting horticulture products is presented. Ca.U.M.Ha. shows an anthropomorphic design incorporating four underactuated finger mechanisms and a simplified contrasting thumb, which are all joined to a rigid palm. The pneumatic cylinders of the articulated fingers are operated in parallel in order to give an additional auto-adaptability on the object to grasp. An application of Ca.U.M.Ha. for grasping different shapes of apples is presented.

Keywords

HarvestingHorticulture productsRobotic handsUnderactuationPneumatics
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 329 - 331
Copyright
2005 Cambridge University Press

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