A Three-Fingered Robot Hand Based on the Slider and Rocker Mechanism

Abstract

In modern times, humanoid dexterous hands have been developed to a high level. However, they are often complicated or have high cost. A three-fingered robot hand is proposed and developed in this paper for simplicity. For each finger, the structure is designed based on the slider and rocker mechanism to increase the driving power. The new robot hand also has the advantage of easy assembly and low cost. The mechanics analysis is done on the fingers to verify the reason why driving power is increased. Experiments show that the new robot hand can perform the precision grasping and envelop grasping on the objects with suitable shape and size. The experiments of grasping different mass objects show that the new robot hand has more power than our old robot hand. These advantages show the new robot hand would be more useful in practical situation.