Abstract
A simulation procedure for an underactuated finger mechanism is proposed for design purposes as based on the kinematics and statics analysis of mechanism operation. A reachable space is proposed and simulated to describe the range and capability to adaptively grasp objects with various shapes and sizes. A numerical example is reported as a result that has been simulated through a specific code with MATLAB program. Results are discussed for a proper design of a new finger mechanism for the LARM (Laboratory of Robotics and Mechatronics) Hand. Results show that the proposed design of a new underactuated finger mechanism can provide human-like grasping operation, and it can be embedded within the finger body with a human-sized mechanical design during the whole motion of grasp operation.
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