Analyses of a Novel Under-Actuated Double Fingered Dexterous Hand

In the field of service robot, implementation of accurate and effective grab is usually the key step in operating process. Common grab of traditional robot is completed by special gripper or holder. Usually these special grippers are composed of mechanisms which are relatively simple, and only used for grab of specific objects, lacking of force feedback and strong universality. Nevertheless, dexterous hand could overcome these shortcomings, which can complete operation with more extensive adaptability. This manuscript designs a kind of double slider-crank mechanism based under-actuated double fingered dexterous hand, describes double-joint finger mechanism and analyzes movements of two grasp modes. According to the grasp of objects in small size, mechanism’s output force performance is analyzed, and movement characteristics of finger mechanism in two grasp modes are described from perspective of joint angles. Degree of adaption is proposed and analyzed, and grasp experiments are designed and performed. At the end of this manuscript, experiments results are showed and analyzed. The results show that the mechanism designed by this manuscript has adaption ability to different sizes and shapes.