Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot

摘要

This paper focuses on the design and implementation of an anthropomorphic robotic finger, that was designed for teleoperation systems. This open-source anthropomorphic finger is easy to fabricate with a 3D printer and standard parts. The finger has three joints and two active Degrees of Freedom (dofs) with 2 servo motors dedicated to finger motion. Size and weight have been optimized in order to achieve human-like movement and space for attached feedback sensors. This proposed the design process, evaluate the finger with quantitative measures, both equation of four-bar linkage mechanism and equation of kinematic.