Design and optimization of a robotic finger

Abstract

This paper introduces a novel link-driven, 1 DOF, three phalanges robotic finger. In order to improve the grasping performance of BHG-1 hand which is driven by tendon system, a link-driven finger is proposed. First, the design requirements of new finger are given on the basis of the new grasping scheme of BHG-1 hand. Then, the analysis and optimization design procedure of the linkage for the robotic finger is carried out. Through the linkage movement space analysis, the linkage is skillfully embedded in the finger body in the 3D finger modeling process. At last, the grasping simulation of the finger shows that the finger meets the design requirements of BHG-1 hand and has excellent grasping capability and adaptability.