A Simplified Design of link mechanism for Robotic Hands which can form both power and precision grasps

Abstract

This paper presented a simplified design for robotic hand with 3 fingers, an underactuated hand which can form both opening and closing motions were constructed by one motor. The mechanism was based on link structure, and a style of grasp is decided passively by objects. There is another motor which can control the distance between the roots of fingers. The main objective of this paper is to develop a low-cost, lightweighted and easily manufacturable robotic hand suitable for a variety of tasks. The whole robotic hand utilizing simple 3D-printed components which can easily and quickly manufactured by 3D printer.