Design and Optimization of an Anthropomorphic Robot Finger

Abstract

The coupled-adaptive underactuated finger offers two motion modes: pre-grasping and self-adaptive grasping. It can execute anthropomorphic pre-grasp motions before the proximal phalanx contacts an object and transitions to adaptive enveloping once contact occurs. The key to designing a coupled-adaptive finger lies in its configuration and parameter, which are crucial for achieving a more human-like design for the prosthetic hand. Thus, this paper proposes a configuration topology and parameter optimization design method for a three-joint coupled-adaptive underactuated finger. The finger mechanism utilizes a combination of prismatic pairs and a compression spring to facilitate the transition between coupled motion and adaptive motion. This enables the underactuated finger to perform coupled movements in free space and adaptive grasping motions once it makes contact with an object. Furthermore, this paper introduces a finger linkage parameter optimization method that takes the joint motion angles and overall dimensions as constraints, aiming to linearize the joint coupling motion ratios as the primary optimization objective. The design method proposed in this paper not only presents a novel linkage mechanism but also outlines and compares its isomorphic types. Furthermore, the optimization results provide an accurate maximum motion value for the finger.