Optimized design of the underactuated robotic hand

摘要

The present paper refers to the design of a robotic hand named RL1 hand. This robotic hand has 3 articulated fingers, which adapt themselves to the object that is being held. The fingers movement and auctioning are made through one direct current motor. The control is done through simple commands and can be sent from any computer, as a string of characters. One special characteristic this robotic hand has is that its mechanism, its electronic control and its 250 gr weight actuator are all embodied in the ASIBOT Robot. This arm was developed to help disable people or people with special needs. Apart from the topics described, the paper also refer to a theoretical study made to optimize the size and localization of the underactuated fingers' pulleys in order to exploit the most of the strength made by the tendon. Thanks to this study, better results would significantly improve these fingers' design