Anthropometric and Anthropomorphic Features Applied to a Mechanical Finger

摘要

This work presents the dimensional synthesis for a mechanical finger, based in four bar mechanisms, where the anthropometric and kinematic constrictions of the human finger are satisfied, the basic criteria used for the dimensional synthesis is the maximum rotation angle for each phalanx, so a human like motion may be achieved. The synthesis of each finger is obtained via Freudenstein's methodology, assuming that the links lengths are constant, and fixed to a main link, the pivot of the system is the knuckle. The only variable which may modify the displacement behavior of the system is the coupler links for each four-bar mechanism; therefore its length is directly related to the position of the finger, such a mechanism has to be able to withstand the average loads and impacts that may happen in a unstructured environment.