Research on the Dimensions of the Multi-fingered Robotic Hand Based on Underactuated Linkage Mechanism

There would be a variety of grasp configurations when underactuated hand enveloping grasp the object, and most configurations are unstable which presents the object away from the fingers. The disadvantages of the hand’s stability based on the grasping kinematics are considered. The relationship of the geometrical parameters of the phalanges and the grasp stability is deduced. The method to determine the main geometrical parameters of the underactuated hand which could be competent to grasp the object is proposed. The experimental study on the three joint linkage underactuated hand which has been developed is carried out, which demonstrates the effectiveness of the method.