1A2-H01 Development of A Robot Finger with A Mechanism Which Replicates the Function of the Human Lumbrical Muscle(Robot Hand Mechanism and Grasping Strategy(2))

摘要

This paper presents the design of an anthropomorphic artificial finger. The robot finger features an underactuated mechanism which replicates three muscles and its tendons in human: flexor digitorum profundus, extensor digitorum, lumbrical. We analyze the motion of the robot finger from a quasi-static perspective. The simulated motion shows it is easy to change the motion by adjusting only one mechanical parameter. It achieves the preshaping with a self-adaptive robot finger. Finally, a prototype of a robot finger is built and tested to compare its motion with the simulated one.