Fully Rotational Joint Underactuated Finger Mechanism and Its Kinematics Analysis

doi:10.3901/JME.2017.01.047

Abstract

Abstract: Underactuated finger has compact structure, large grasping force and simple operation. It has a wide application prospect in the fields of industrial robot, humanoid robot, human artificial limb and space robot. A new type of fully rotating joint linkage-based underactuated mechanism is proposed, and a new method based on the principle of minimum damping is presented to realize the equivalent mechanism of the mechanism of the different contact conditions of the finger, then to realize the kinematical analysis based on the equivalent mechanism. The kinematic equations and the limit moving position of the mechanism are derived by using the proposed method. The numerical simulation is carried out by Matlab program. The correctness and effectiveness of this method are verified. The simulation results show that the proposed mechanism has a large space and can achieve good grasp trajectory.

Key words: equivalent mechanism, kinematic analysis, underactuated finger mechanism

WU Licheng, KONG Yanxuan, LI Xiali. Fully Rotational Joint Underactuated Finger Mechanism and Its Kinematics Analysis[J]. Journal of Mechanical Engineering, 2017, 53(1): 47-54.

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