Prosthetic finger based on fully compliant mechanism for multi-scale grasping

The paper presents a novel design of multi-fingered end-of-arm-tooling mechanism for handling micro–meso scale objects. More particularly, the research aims to develop a compliant prosthetic manipulator designed for rapid 3D manufacturability. The microgripper is constructed from a multiple compliant 5-beam mechanism arranged symmetrically to provide three-dimensional manipulation. Comprehensive one dimensional and three dimensional finite element modeling simulations are conducted including geometrical optimization, structural and dynamic analysis with and without grasping an object, modal and buckling analysis. The results showed capability to tune the structural responses to attain fine to coarse displacement allowing grasping of irregular shapes. Preliminary experimental results showed that using electromagnetic actuation as a source of force input to a 3D printed gripper introduces asymmetrical nonlinear response between the reaction force and displacement measured at the fingertip. Future improvement will involve investigating the effect of the digital printing and force feedback control methods to regulate fingertip displacement.