Abstract

Based on the principle of parallel robot mechanism and bionics, a new type of three degree-of-freedom parallel finger mechanism is proposed. The basic unit of mechanism is parallelogram linkage. In the paper, the emphasis is laid on the study of the finger mechanism; the forward solution and inverse solution of the finger mechanism are obtained, an idea of parallel finger design is given. The analysis of the workspace simulation indicates that the finger mechanism can be used on robot hands, working flexibly like human being's finger.

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