A robotic finger mechanism for robust industrial applications

摘要

Purpose - The purpose of this paper is to present the design and analysis of a robotic finger mechanism for robust industrial applications. Design/methodology/approach - The resultant design is a compact rigid link finger, which is adaptive to different shapes and sizes providing necessary grasping features. A number of such fingers can be assembled to function as a special purpose end effector. Findings - The mechanism removes a number of significant problems usually experienced with tendon-based designs. The finger actuation mechanism forms a compact and positive drive unit within the end effector's body using solid mechanical linkages and integrated actuators. Practical implications - The paper discusses the design issues associated with a limited number of actuators to operate in a constrained environment and presents various considerations necessary to ensure safe and reliable operations. Originality/value - The design is original in existence and developed for special purpose handling applications that offers a strong and reliable system where space and safety is of prime concern.