Mechanism Design and Kinematic Analysis of a Robotic Modular Finger and Reconfigurable Hand

Abstract

Aiming at the problems of complex structure, high production cost, high rigidity and insufficient flexibility of current dexterous hands, a modular fully driven finger and reconfigurable hand of robot is designed in this paper. The kinematics of a single finger joint is analyzed by geometric method, and the finger grasping workspace is obtained. The flexible member spring and grasping range adjustment hole are designed in the finger mechanism, which has the advantages of relatively simple structure and low production cost. and the adaptive grasping ability and flexibility of fingers are greatly improved.