Abstract
A novel underactuated finger mechanism based on linkage and spring elements is proposed. The kinematic characteristic of the mechanism is analyzed to obtain the fingertip displacement and relationships between three joints. Considering the motion feature of human finger and actuation efficiency of the driving motor, the dimensional design of the finger mechanism is formulated as an optimization problem. The numerical simulation result shows that the finger mechanism can not only realize the anthropomorphic coupling motion, but also envelope objects with various shapes and sizes self-adaptively.
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