A new approach to flexible multi-joint robot finger

摘要

This paper present a new approach to flexible multijoint robot finger mechanism, which consist of three links and similar to a human finger. The proposed mechanism is capable to joint as a multi-joint to realize as a soft gripper or robot hand. The advantage of proposed mechanism is obtaining more Degree-Of-Freedom (DOF) with less actuators and self-adaptive functionality under real life grasping. The structure of proposed mechanism is described and sensor feedback experiment is also given. The application of proposed mechanism to agriculture application is also discussed.