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An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand

Authors: Ayaulym Nurpeissova, Talgat Tursynbekov and Almas Shintemirov, Senior Member, IEEE
For correspondence: ashintemirov@nu.edu.kz

This paper presents a new open-source mechanical design of a 6-DOF anthropomorphic ALARIS robotic hand that can serve as a low-cost design platform for further customization and utilization for research and educational purposes. The presented hand design employs linkage-based three-phalange finger and two-phalange adaptive thumb designs with non-backdrivable worm-and-rack transmission mechanisms.
The proposed open-source mechanical design of the robotic hand has been created using SolidWorks CAD software. The final assembled model is shown in Hand_final_version.SLDASM file.

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Please refer to the ALARIS site for more information: https://www.alaris.kz/research/robot-hand/

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Open Source Robot Hand Design

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