Design for a Three-Fingered Hand

Abstract

A general purpose end-effector for use on the space manipulator proposed for the shuttle program was developed. The end-effector has the capabilities of a human hand and peel-off value as a human prosthetic device. The design evolved through two mock-up stages. The final form contains four electric motors. While thumb and forefinger bend, their ultimate phalanges maintain a parallel stance to one another. The grip centerline is at 45 degrees to the mounting base