Abstract

In this paper, we present a novel 3–degree-of-freedom (3–DoF) series-parallel hybrid mechanism for a robotic finger that is capable of both adduction and abduction. The series-parallel fingers proposed in the literature either have less than 3–DoF or the fingertip motion cannot be controlled, since they are difficult to analyze kinematically. We present the complete position kinematics and differential kinematics of our proposed finger mechanism and show through simulation examples that the fingertip can be kinematically controlled to follow a given path. Both position control and velocity control capabilities are demonstrated.

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