Development of a Three-Finger Linkage-Driven Robotic Hand

Abstract

This work presents one linkage-driven robotic hand which has three fingers. Each finger is constructed by stacking one five–bar mechanism over one double parallelogram. This finger mechanism can be used to achieve the parallel and adaptive power grasping. Through adding a rotational actuator to the base of each finger, many types of grasping modes can be achieved by using this robotic hand. Development and experimental evaluation of this three-finger hand are reported in this work.