Topology and Analysis of Three-Phalanx COSA Finger Based on Linkages for Humanoid Robot Hands

摘要

The design of a novel linkage three-phalanx finger was proposed in this paper. The finger is based on the concept of COSA (coupling and self-adaptation) and also two-phalanx COSA finger. As a combination of rigid coupled finger and self-adaptive under-actuated finger, the COSA finger has comprehensive grasping ability with human-like motion. Available topology designs were discussed in this paper and then mechanical design in details is given. Motion and grasping patterns of the finger were illustrated and compared with traditional coupled finger and under-actuated finger. Moreover, stability of grasp was simulated by static analysis. The three-phalanx finger with advantages of coupling and self-adaptation can be widely applied in hands for prosthetic limbs or humanoid robots.