Analysis and design of a modular underactuated mechanism for robotic fingers

Abstract

This paper presents an analysis of the design problems and requirements for underactuated mechanisms for robotic fingers. The case of performing a grasping task is considered and a solution is proposed that consists of a series of linked underactuated mechanisms. Optimality criteria are analysed with the aim of formulating a general design algorithm based on a suitable optimization problem. An example of a four-phalanx modular finger is used to highlight the practical feasibility of the proposed modular design concepts and procedures.