On Function Generation of Watt I Mechanisms for Finger Design

摘要

This work includes a [unction generation model for the synthesis of a particular type of planar six-bar mechanism commonly used in mechanical finger design-the Watt I mechanism. Using the function generation method presented in this work, Watt I mechanical finger mechanisms are synthesized to approximate prescribed angular displacements of the human finger Metacarpophalangeal (MCP), Proximal Interphalangeal (PIP) and Distal Interphalangeal (DIP) joints. The examples included in this work demonstrate the synthesis of mechanical hands to achieve limited and expanded prescribed grasping sequences.