Mechanism design of underactuated robotic hand

Abstract

In this paper, we designed a new underactuated multi-finger robotic hand. First, we designed the number of fingers, the layout and the driving method. And then, we built the static force model of the multi-finger robotic hand, and analyzed the relationship between the grasping force of the finger, the joint angle and the size of grasped object, especial in grasping some classical objects. Finally, we printed the first prototype of the underactuated robotic hand through 3D printer, and conducted an experiment. The experiment results showed that the designed underactuated multi-finger robotic hand could grasp different objects, and performed well.