Design of a hybrid tendon-linkage finger with coupled and adaptive motion
Overview
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.
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Reported quantity · peak fingertip force: 4.56 other · Basis not reported
“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.”
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- arXiv Robotics — research abstractsSignalDesign 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.
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