1-DOF motion-coupling anthropomorphic fingers based on linkage

摘要

This paper aims to give some proofs validating that the new proposed 1-DOF motion-coupling anthropomorphic fingers (in reference) can imitate the human finger's motion well and to find the advantage and disadvantage of the new fingers. The geometry-based kinematics and the statics of all the four 1-DOF six-link motion-coupling fingers are deduced, the parameters of these fingers are defined through optimization method, and the width of every finger is defined and calculated. In the end, we simulate the kinematics and statics to find difference among all the four 1-DOF motion-coupling anthropomorphic fingers. It is shown that the new proposed fingers are more compacter than the existing ones, while the new fingers are not more difficult to driven.