Abstract
We present our 3-D cam transmission mechanism designed for developing a non-backdrivable robotic finger with strong gripping force. The modification of the cam dog frame of the cylindrical-cam has reduced the backlash in the contact surfaces within the cam. Experiments show that the positioning error is similar to that of the gyro-cam mechanism, which had minimum error. The dynamic characteristics of the two cam dog shapes are described by comparing their rotational displacements of the joint and motor shaft. The gyro-cam shows a better response, and cylindrical cam needs further adjustment and lightweight solution.
