Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger

Abstract

When designing linkage driven underactuated robotic finger, many parameters needs to be satisfied in order to produce robust robotic hand capable of withstanding industrial environment and capable of fulfilling all needs of robotic assembly in terms of precision and dexterity. For this study, four-bar linkage mechanisms are used to drive underactuated robotic finger and design parameter that will be addressed is transmission performance. Optimization method used for obtaining length of links of four-bar mechanism, based on transmission performance is shown. Freundenstein’s analytic method for four-bar linkage function generation, is chosen, and calculated link lengths are to be used for acquiring parameter called transmission defect, parameter that is objective function to be minimized in this optimization process. Maximizing transmission performance, leads to increase of the transmitted torque from the actuated joints to the underactuated joints through transmission mechanism. This paper presents design and kinematic analysis of three degrees of freedom (3-DoF) underactuated robotic finger with linkage driven mechanism for CMSysLab robotic hand.