Study on Multi-finger Under-actuated Mechanism for Robotic Hand

Abstract

Considering its advantages of increasing the stability of grasping and reducing the difficulty of controlling, many studies on under-actuated mechanism have been carried out. Compared with the traditional under-actuated mechanism for single multi-joint finger, this paper proposed a novel multi-finger under-actuated mechanism. The mechanism, by setting springs around joint axis, realizes that one motor drives root joints of multiple fingers. Upon analysis, the main design principle is discussed. The mechanism can be used as the root joints of index, middle, ring and little finger. It also realize passive adaptive grasp to objects of different shapes and sizes and a proper grasping force. It has high grasping stability and low control requirement.