Design of a hybrid tendon-linkage finger with coupled and adaptive motion
Design of a hybrid tendon-linkage finger with coupled and adaptive motion
This paper introduces a dexterous robotic finger featuring four mechanical degrees of freedom driven by three actuators. The design utilizes a bevel gear for MCP abduction/adduction, separate bidirectional tendon transmissions for MCP and PIP flexion/extension, and a four-bar linkage with a torsional spring to couple the DIP joint to the PIP joint. Kinematic analysis and experiments using ArUco-based measurements confirmed that coupled motion closely matched theoretical predictions, while adaptive motion was partially constrained by interference between linkage components. The fabricated finger demonstrated varied contact postures with cylindrical, cuboid, and irregular objects, achieving a mean peak fingertip force of 4.56 N without requiring an additional actuator for the DIP joint.
The study presents a four-DOF robotic finger driven by three actuators using hybrid tendon-linkage and bevel gear mechanisms, with experimental validation showing coupled motion matching theoretical predictions but adaptive motion partially limited by component interference.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
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peak fingertip force
4.56
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ingertip force was 4.56 N. The proposed mechanism provides both coupled motion and contact-dependent adaptation without requiring an additional actuator for the DIP joint.
Open source S5
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ingertip force was 4.56 N. The proposed mechanism provides both coupled motion and contact-dependent adaptation without requiring an additional actuator for the DIP joint.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org