BLDC motor driven robot finger design using the sliding actuation principle

摘要

In this paper, we suggest a robot finger driven by BLDC motors utilizing the distributed actuation mechanism. The mechanism allows an additional design freedom to optimize the fingertip force, which implies the usage of the maximal capacity of actuators. By numerical analysis and experiments, the fingertip forces of the developed robot finger will be given to prove the effectivenss of the distributed actuation principle.