Under-Actuated Joint Design in Mechanical Hand based on Analysis of Link-Slip Block Mechanism

W. Zhang, Y. Ji, and Q. Chen (PRC)


Robot design and Architecture, Humanoid robotic hand, Under-actuated finger, Self-adaptive grasp, Link-slip block mechanism


The design and optimization of a novel under-actuated joint using self-adaptive link-slip block mechanism is presented in this paper. Applying such under-actuated joint into fingers, the humanoid robotic hand can use simple control system to enable complex grasping. This paper firstly analyze the influence of the joint’s design parameters on the displacement of the slip block and the rotation angle of the 2nd segment, and get the optimized structure of the joint. Based on the analysis of the relationship between the finger-unit’s design parameters and its grasping force, we then propose its design principle. Finally, we take one finger unit as a module and design a multi-fingered TH-2L Hand. TH-2L Hand can adaptively grasp objects of different sizes and has similar functions of human hands.

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