Analysis and optimal design of an underactuated finger mechanism for robotic fingers

This paper presents an analysis of the design problems and requirements for underactuatedmechanisms for robotic fingers. The case of performing a grasping task is consideredand a solution is proposed that consists of a series of linked underactuated mechanisms.Optimality criteria are analysed with the aim of formulating a general design algorithm basedon a suitable optimization problem. An example of a four-phalanx modular finger is used tohighlight the practical feasibility of the proposed modular design concepts and procedures.