Peer Reviewed Journal via three different mandatory reviewing processes, since 2006, and, from September 2020, a fourth mandatory peer-editing has been added.
Recently, it has been required that various objects with different shapes or sizes could be held and grasped by one 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 or different sized parts should be handled. In this paper, the detailed design of articulated mechanical hand with envelope grasp capability which we have newly developed by introducing@ GaeaDriveⓇ and its motion mechanism are described.