This paper discusses a design process for articulated robot fingers that leads to a new generation of dextrous robot hands. Previous work has often focused on anthropomorphic designs with a serial arrangement of the joint freedoms. Here, however, the fingers are based on multi-loop kinematic chanis that allow all actuators to be located on the palm. Thus actuation of distal joints is avoided and tendon drives are unnecessary. All kinematic chains have been identified that together comprise the simplest set capable as functioning, in the defined manner, as an articulated finger. With one of these as a basis, a finger has been constructed whose geometry has been optimised to obtain simple kinematic equations of movement. Furthermore, the workspace of the finger-tip is free of special configurations where freedoms are either gained or lost.
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