Abstract
Recently, it has been required that various objects with different shapes or sizes could be held and grasped by robot hand mechanism for the sake of factory automation and labor saving. Corresponding to such needs, we have developed an articulated mechanical hand which has an envelope grasp capability. Since the developed hand is possible to envelope and grasp an object mechanically, it can be used easily and widely in the factory where various shaped and different sized parts should be handled. In this paper, the change of grasp configurations for the object size is studied on the developed mechanical hand and conditions for realizing a suitable grasp are analyzed geometrically.
