2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics 2010 2nd International Asia Conference
2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics
Linkage under-actuated humanoid robotic hand
with control of grasping force
Wenzeng Zhang, Deyang Zhao, Qiang Chen, Dong Du
Dept. of Mechanical Engineering
Key Laboratory for Advanced Materials Processing Technology, Ministry of Education
Beijing, China
wenzeng@mail.tsinghua.edu.cn, zdy07@mails.tsinghua.edu.cn
Abstract—The single-motor multiple DOFs
under-actuated finger is the focus of robot research. The
grasping force of traditional under-actuated hands based on
linkages is hard to control. The traditional hands also have
many differences from human hands in appearance. Aiming
to solve these problems, this paper has presented a novel
under-actuated hand based on linkages, which also
comprises of slider mechanisms and springs. Its finger has a
changeable force output controlled by a motor with
humanoid appearance. It also can adapt to the shape of
objects. This article analyzed the force properties of the
finger. According to this, a 2-DOF finger and a 3-DOF
finger were designed. Finally, they are included in the hand
named TH-3L, which comprises of five fingers and six
motors with 15 DOFs.
key words—Robotic hand, Under-actuated mechanism,
Self-adaptive grasp, Changeable grasping force, Linkage
mechanism
I. INTRODUCTION
Industrial grippers usually are not competent for
versatile grasp. On the other hand, dexterous hands with
multiple joints and actuators are able to manipulate
objects. This makes the hands able to complete various
grasp tasks. Pioneer designs include: Barrett Hand [1],
Shadow Hand [2] and Gifu Hand [3]. Although the
dexterous hands can satisfy the requirements of versatile
grippers, it is a huge waste to use dexterous hands as
versatile grippers due to large expenditure and systemic
complexity.
The versatile grippers mean that they can adapt
themselves to the shapes of different objects.
Under-actuated hands meet the requirements with fewer
actuators and simple control system. Some under-actuated
hands, at present, have been designed successfully such
as SSL Hand [4], Cassino Hand [5], the hand presented by
Laval University[7] and TH-3R Hand [6]. A question was
put forward in the literature [8]: “Is computer control
needed to perfectly mimic the human hand, or is a simple
mechanical design with approximate adaptive grasp
sufficient?” The TBM hand was proposed as an answer to
the question. Each finger of the hand is connected by a
spring to the palm. Such a design makes the grasping
force on the finger changeable eventually.
This paper intended to propose a novel under-actuated
humanoid hand. Its grasping force should be
controllable. Therefore, the hand should have a
combined function of versatile changeable grasp and
highly under-actuation.
978-1-4244-5194-4/10/$26.00 ©2010 IEEE

II. UNDER-ACTUATED FINGERS
Fig. 1 shows the model of an under-actuated finger
with force control mechanism. This finger applies linkage
mechanisms, slider mechanisms and elastic elements.
There are two springs. One is designed for
under-actuation, named “under-actuation” spring; the
other is designed for grasping force control, named “force
changing” spring. The “under-actuation” spring connects
the lowest link to the proximal phalanx. The “force
changing” spring connects the lower slider to the upper
slider. The principle of the finger is described as followed.
The intersection angle between the lowest link and the
proximal phalanx keeps unchanged because of the
“under-actuation” spring when no external force exists on
the finger. The finger rotates as a “rigid” body. The lowest
link keeps rotating after the proximal phalanx contacts the
object. Then the “under-actuation” spring is compressed.
The distal phalanx rotates with respect to the proximal
phalanx. The distance between the two sliders keeps
unchanged since no external force exits on the distal
phalanx yet. The distal phalanx continues rotating until it
is also constrained by the object. The lowest link goes on
rotating due to the “force changing” spring. Thus the
“force changing” spring deforms. The force produced by
“force changing” spring opposes the motor force and is
distributed to the two phalanges. It forms the changeable
part of the grasping force.
F2
3
F
2
F1
3
1 as SSL Hand [4], Cassino Hand [5], the hand presented by
4 Laval University[7] and TH-3R Hand [6]. A question was
5 5
(a) (b) (c)
1-the “under-actuation” spring; 2-the “force changing” spring; 3-the
sliders; 4-the base; 5-the lowest link
III. ANALYSIS OF THE FINGER
A. Static Analysis
A static model is built in this part. The dynamics of
the finger are not considered. The friction and force
control are ignored here. A model with, where O 1 is the
center of the proximal joint shaft, O 2 is the center of the
CAR 2010
Linkage under-actuated humanoid robotic hand
with control of grasping force
Wenzeng Zhang, Deyang Zhao, Qiang Chen, Dong Du
Dept. of Mechanical Engineering
Key Laboratory for Advanced Materials Processing Technology, Ministry of Education
Beijing, China
wenzeng@mail.tsinghua.edu.cn, zdy07@mails.tsinghua.edu.cn
Abstract—The single-motor multiple DOFs
under-actuated finger is the focus of robot research. The
grasping force of traditional under-actuated hands based on
linkages is hard to control. The traditional hands also have
many differences from human hands in appearance. Aiming
to solve these problems, this paper has presented a novel
under-actuated hand based on linkages, which also
comprises of slider mechanisms and springs. Its finger has a
changeable force output controlled by a motor with
humanoid appearance. It also can adapt to the shape of
objects. This article analyzed the force properties of the
finger. According to this, a 2-DOF finger and a 3-DOF
finger were designed. Finally, they are included in the hand
named TH-3L, which comprises of five fingers and six
motors with 15 DOFs.
key words—Robotic hand, Under-actuated mechanism,
Self-adaptive grasp, Changeable grasping force, Linkage
mechanism
I. INTRODUCTION
Industrial grippers usually are not competent for
versatile grasp. On the other hand, dexterous hands with
multiple joints and actuators are able to manipulate
objects. This makes the hands able to complete various
grasp tasks. Pioneer designs include: Barrett Hand [1],
Shadow Hand [2] and Gifu Hand [3]. Although the
dexterous hands can satisfy the requirements of versatile
grippers, it is a huge waste to use dexterous hands as
versatile grippers due to large expenditure and systemic
complexity.
The versatile grippers mean that they can adapt
themselves to the shapes of different objects.
Under-actuated hands meet the requirements with fewer
actuators and simple control system. Some under-actuated
hands, at present, have been designed successfully such
put forward in the literature [8]: “Is computer control
needed to perfectly mimic the human hand, or is a simple
mechanical design with approximate adaptive grasp
sufficient?” The TBM hand was proposed as an answer to
the question. Each finger of the hand is connected by a
spring to the palm. Such a design makes the grasping
force on the finger changeable eventually.
This paper intended to propose a novel under-actuated
humanoid hand. Its grasping force should be
controllable. Therefore, the hand should have a
combined function of versatile changeable grasp and
highly under-actuation.
978-1-4244-5194-4/10/$26.00 ©2010 IEEE

II. UNDER-ACTUATED FINGERS
Fig. 1 shows the model of an under-actuated finger
with force control mechanism. This finger applies linkage
mechanisms, slider mechanisms and elastic elements.
There are two springs. One is designed for
under-actuation, named “under-actuation” spring; the
other is designed for grasping force control, named “force
changing” spring. The “under-actuation” spring connects
the lowest link to the proximal phalanx. The “force
changing” spring connects the lower slider to the upper
slider. The principle of the finger is described as followed.
The intersection angle between the lowest link and the
proximal phalanx keeps unchanged because of the
“under-actuation” spring when no external force exists on
the finger. The finger rotates as a “rigid” body. The lowest
link keeps rotating after the proximal phalanx contacts the
object. Then the “under-actuation” spring is compressed.
The distal phalanx rotates with respect to the proximal
phalanx. The distance between the two sliders keeps
unchanged since no external force exits on the distal
phalanx yet. The distal phalanx continues rotating until it
is also constrained by the object. The lowest link goes on
rotating due to the “force changing” spring. Thus the
“force changing” spring deforms. The force produced by
“force changing” spring opposes the motor force and is
distributed to the two phalanges. It forms the changeable
part of the grasping force.
F2
3
F
2
F1
3
1
4
(a) (b) (c)
1-the “under-actuation” spring; 2-the “force changing” spring; 3-the
sliders; 4-the base; 5-the lowest link
III. ANALYSIS OF THE FINGER
A. Static Analysis
A static model is built in this part. The dynamics of
the finger are not considered. The friction and force
control are ignored here. A model with, where O 1 is the
center of the proximal joint shaft, O 2 is the center of the
CAR 2010
distal joint shaft, l 1 is the length of the proximal phalanx
i.e. the length of O 1 O 2 , l 2 is the length of the distal
phalanx, a, b, d, e are all lengths of the links, c is the
initial distance between the two sliders, f is the distance
between the center of the slider and O 1 O 2 , f 1 is the
grasping force on the proximal phalanx, f 2 is the grasping
force on the distal phalanx, h 1 is the force arm of f 1 with
respect to O 1 , h 2 is the force arm of f 2 with respect to O 2 ,
ș a is the rotating angle of the lowest link with respect to
the base, ș 1 is the rotating angle of the proximal phalanx,
ș 2 is the rotating angle of the distal phalanx with respect
to the proximal phalanx, and T a is the torque of the motor.
Therefore one shall modify J v as: distal joint shaft, l 1 is the length of the proximal phalanx Therefore one shall modify J v as:
ª h1 0 º (9) i.e. the length of O 1 O 2 , l 2 is the length of the distal ª h1 0 º (9)
Jv «A h » phalanx, a, b, d, e are all lengths of the links, c is the Jv «A h »
¬ 2¼ initial distance between the two sliders, f is the distance ¬ 2¼
Let Ȧ a - Z ș (10) between the center of the slider and O 1 O 2 , f 1 is the Let Ȧ a - Z ș (10)
Build a coordinate system fixed on the proximal grasping force on the proximal phalanx, f 2 is the grasping Build a coordinate system fixed on the proximal
phalanx. Discussion below is set in this coordinate system. force on the distal phalanx, h 1 is the force arm of f 1 with phalanx. Discussion below is set in this coordinate system.
The 2-DOF finger contains two eccentric crank-slider respect to O 1 , h 2 is the force arm of f 2 with respect to O 2 , The 2-DOF finger contains two eccentric crank-slider
mechanisms. A general eccentric crank-slider mechanism ș a is the rotating angle of the lowest link with respect to mechanisms. A general eccentric crank-slider mechanism
is shown in Fig. 3 where r and L are lengths of links, s is the base, ș 1 is the rotating angle of the proximal phalanx, is shown in Fig. 3 where r and L are lengths of links, s is
the distance from the center of the slider to the fixed ș 2 is the rotating angle of the distal phalanx with respect the distance from the center of the slider to the fixed
hinge, and e is the eccentricity. Let v is the velocity of the to the proximal phalanx, and T a is the torque of the motor. hinge, and e is the eccentricity. Let v is the velocity of the
slider and Ȧ is the rotating velocity of the link 1. slider and Ȧ is the rotating velocity of the link 1.

Fig.3. Eccentric crank-slider mechanism Fig.3. Eccentric crank-slider mechanism

One obtains One obtains
§ O · (11) § O · (11)
v rZ ¨ sin D  H cos D  sin 2D ¸ v rZ ¨ sin D  H cos D  sin 2D ¸
© 2 ¹ © 2 ¹
3 2 3 2
where, O , H and higher-degree terms are where, O , H and higher-degree terms are
ignored and e  r , H e , O r . ignored and e  r , H e , O r .
L L L L
Give the geometric parameters of the finger into eq. Give the geometric parameters of the finger into eq.
Fig.2. Model of 2-DOF finger
(11). One gets Fig.2. Model of 2-DOF finger
(11). One gets
According to the principle of virtual work, one
S f S a S
v a (T a  T )[sin(  T  T )  cos(  T  T )  sin 2(  T  T )]
(12) According to the principle of virtual work, one
S f S a S
v a (T a  T )[sin(  T  T )  cos(  T  T )  sin 2(  T  T )]
(12)
1 1 a 1 a 1 a 1 1 a 1 a 1 a
2 b 2 2b 2 2 b 2 2b 2
obtains obtains
T
tȦ a I 9
T
(1) S f S e S (13)
T
tȦ a I 9
T
(1) S f S e S (13)
v e T 2 [sin(  T 2 )  cos(  T 2 )  sin 2(  T 2 )] v e T 2 [sin(  T 2 )  cos(  T 2 )  sin 2(  T 2 )]
where t is the input torque vector exerted by the motor 2 d 2 2d 2 where t is the input torque vector exerted by the motor 2 d 2 2d 2
and the “under-actuation” spring, f is the grasping force From the two equations above, one can obtain and the “under-actuation” spring, f is the grasping force From the two equations above, one can obtain
vector on the two phalanges, Ȧ a is the corresponding f e vector on the two phalanges, Ȧ a is the corresponding f e
cosT 2  sin T 2  sin 2T 2 (14) cosT 2  sin T 2  sin 2T 2 (14)
rotating velocity vector, V is the velocity vector of e d 2 d rotating velocity vector, V is the velocity vector of e d 2 d
Ta T1 T2 Ta T1 T2
contacting points, i.e. a cos(T  T )  f sin(T  T )  a sin 2(T  T ) contacting points, i.e. a cos(T  T )  f sin(T  T )  a sin 2(T  T )
1 a 1 a 1 a 1 a 1 a 1 a
ªTa º (2) b 2b ªTa º (2) b 2b
t «T » f e t «T » f e
¬ s¼ Let B= e cos T 2 
sin T 2  sin 2T 2 (15) ¬ s¼ Let B= e cos T 2 
sin T 2  sin 2T 2 (15)
d 2d d 2d
ª f1 º (3) a f a
cos(T1  T a )  sin(T1  T a )  sin 2(T1  T a ) ª f1 º (3) a f a
cos(T1  T a )  sin(T1  T a )  sin 2(T1  T a )
f «f » b 2b
f «f » b 2b
¬ 2¼ ¬ 2¼
Finally one gets Finally one gets
ª º ª º
«T a » (4) ª1B º (16) «T a » (4) ª1B º (16)
Ȧa JZ Ȧa JZ
« » «01 » « » «01 »
¬T 2 ¼ ¬ ¼ ¬T 2 ¼ ¬ ¼
ªv1 º (5) Since J v h1h2 z 0 , one gets ªv1 º (5) Since J v h1h2 z 0 , one gets
V «v » V «v »
¬ 2¼ (17) ¬ 2¼ (17)
fT tT J Z J v1 fT tT J Z J v1
T s is the torque exerted by “under-actuation” spring T s is the torque exerted by “under-actuation” spring
on the distal phalanx, v 1 is the velocity of the contacting ª Ta ABTa  ATs º on the distal phalanx, v 1 is the velocity of the contacting ª Ta ABTa  ATs º
i.e. «h  h1h2 » (18) i.e. «h  h1h2 » (18)
point on the proximal phalanx, and v 2 is the velocity of f « 1 » point on the proximal phalanx, and v 2 is the velocity of f « 1 »
the contacting point on the distal phalanx. Let « BTa  Ts » the contacting point on the distal phalanx. Let « BTa  Ts »
« h » « h »
ª º ¬ ¼ ª º ¬ ¼
«T 1 » (6) 2
«T 1 » (6) 2
ș The torque exerted by “under-actuation” could be ș The torque exerted by “under-actuation” could be
« » « »
¬T 2 ¼ ignored. Thus eq. (18) is modified as: ¬T 2 ¼ ignored. Thus eq. (18) is modified as:
One gets ª h2  AB º One gets ª h2  AB º
ª h1
ª º
0 º «T 1 » (7) « h h Ta » ª h1
ª º
0 º «T 1 » (7) « h h Ta »
V șJ v  «l cos T  h h » « » f «
1 2
» (19) V șJ v  «l cos T  h h » « » f «
1 2
» (19)
¬1 2 2¼ ¬1 2 2¼
2
¬«T 2 ¼» « BTa » 2
¬«T 2 ¼» « BTa »
Let A= l1 cos T 2  h2 (8) « h » Let A= l1 cos T 2  h2 (8) « h »
¬ 2 ¼ ¬ 2 ¼

 
 where A= l1 cos T 2  h2 , B= B. Control of grasping force where A= l1 cos T 2  h2 , B= B. Control of grasping force
f e The motor continues rotating after the finger f e The motor continues rotating after the finger
cos T 2  sin T 2  sin 2T 2 envelopes the object. The “force changing” spring cos T 2  sin T 2  sin 2T 2 envelopes the object. The “force changing” spring
e d 2d e d 2d
a f a produces deformation. Assume T e is the torque of the a f a produces deformation. Assume T e is the torque of the
cos(T1  T a )  sin(T1  T a )  sin 2(T1  T a ) cos(T1  T a )  sin(T1  T a )  sin 2(T1  T a )
b 2b “force changing” spring. It resists directly on the lowest b 2b “force changing” spring. It resists directly on the lowest
link. The motor torque increases to balance the force. The link. The motor torque increases to balance the force. The
The eq. (19) is the matrix the grasping forces on the The eq. (19) is the matrix the grasping forces on the
increment equals to the T e . increment equals to the T e .
finger. Define (ș 1 -ș a ) in B as: finger. Define (ș 1 -ș a ) in B as:
Eq. (2) can be modified as: Eq. (2) can be modified as:
S (20) ªTa  Te º S (20) ªTa  Te º
<  T1  T a (22) <  T1  T a (22)
2 t « » 2 t « »
T
¬ s e¼ T T
¬ s e¼ T
One obtains B= One obtains B=
Correspondingly, eq. (18) is rewritten as: Correspondingly, eq. (18) is rewritten as:
f e ª Ta  Te AB(Ta  Te )  A(Ts  Te ) º f e ª Ta  Te AB(Ta  Te )  A(Ts  Te ) º
cos T 2  sin T 2  sin 2T 2 (21) (23) cos T 2  sin T 2  sin 2T 2 (21) (23)
e d 2d « h  h1h2 » e d 2d « h  h1h2 »
a sin <  f cos <  a sin 2< f « 1 » a sin <  f cos <  a sin 2< f « 1 »
« B(Ta  Te )  Ts  Te » « B(Ta  Te )  Ts  Te »
b 2b « » b 2b « »
¬ h 2 ¼ ¬ h 2 ¼
A stable grasp refers to that the grasping forces are A stable grasp refers to that the grasping forces are
Ignore the torque of the “under-actuation” spring, Ignore the torque of the “under-actuation” spring,
positive. One can calculate the grasping forces using eq. positive. One can calculate the grasping forces using eq.
ª h2  AB h2  A( B  1) º ª h2  AB h2  A( B  1) º
(19). The stability of the grasp, correspondingly, is « h h Ta  Te » (24) (19). The stability of the grasp, correspondingly, is « h h Ta  Te » (24)
h1h2 h1h2
determined by f 1 and f 2 as functions of ș 2 and ȥ. f « 1 2 » determined by f 1 and f 2 as functions of ș 2 and ȥ. f « 1 2 »
Let h 1 =35 mm, h 2 =20 mm, l 1 =50 mm, l 2 =30 mm, « BTa (1  B) » Let h 1 =35 mm, h 2 =20 mm, l 1 =50 mm, l 2 =30 mm, « BTa (1  B) »
« h  h Te » « h  h Te »
a=10 mm, b=18 mm, f=5 mm, e=10 mm, d=15 mm, and ¬ 2 2 ¼ a=10 mm, b=18 mm, f=5 mm, e=10 mm, d=15 mm, and ¬ 2 2 ¼
T a =2 Nm. The f 1 and f 2 are calculated and then shown in Eq. (24) illustrates that direction of the change of T a =2 Nm. The f 1 and f 2 are calculated and then shown in Eq. (24) illustrates that direction of the change of
Fig. 4 and Fig. 5. grasping force is determined by the mechanical design Fig. 4 and Fig. 5. grasping force is determined by the mechanical design
Let f 1 = f 2 = 0, one gets the stability figure shown in and the configuration of the finger. The relationship Let f 1 = f 2 = 0, one gets the stability figure shown in and the configuration of the finger. The relationship
Fig. 6. between the parameters and the force change is concluded Fig. 6. between the parameters and the force change is concluded
as followed. If B>-1, f 2 will increase, and the changing of as followed. If B>-1, f 2 will increase, and the changing of
f 1 is determined by the value of h2  A( B  1) ; If B<-1, f 2 f 1 is determined by the value of h2  A( B  1) ; If B<-1, f 2
will decrease, and f 1 will increase. will decrease, and f 1 will increase.
The direction of the change of grasping force is partly The direction of the change of grasping force is partly
predetermined by the architecture of the finger. The predetermined by the architecture of the finger. The
quantity of the changing is determined by the motor. The quantity of the changing is determined by the motor. The
control of grasping force, therefore, is obtained by control control of grasping force, therefore, is obtained by control
of the motor combing adequate mechanical design. of the motor combing adequate mechanical design.
IV. TH-3L HAND IV. TH-3L HAND
Fig.4. Grasping force f 1 Fig.4. Grasping force f 1
A. Design of 2-DOF finger and 3-DOF finger A. Design of 2-DOF finger and 3-DOF finger
The design of the 2-DOF under-actuated finger is The design of the 2-DOF under-actuated finger is
shown in Fig. 7. The design of 3-DOF finger is shown in shown in Fig. 7. The design of 3-DOF finger is shown in
Fig. 8. Fig. 8.

Fig.5. Grasping force f 2 Fig.5. Grasping force f 2

Fig.6. Stability of the grasp
(a) Front cutaway view (b) Side cutaway view (a) Front cutaway view (b) Side cutaway view
1-base; 2-the proximate phalanx; 3-the distal phalanx; 4-the proximate 1-base; 2-the proximate phalanx; 3-the distal phalanx; 4-the proximate
joint shaft; 5-the distal joint shaft; 6-the gears transmission mechanism; joint shaft; 5-the distal joint shaft; 6-the gears transmission mechanism;
7-the motor; 8-the first link; 9-the second link; 10-the first slider; 11-the Fig.6. Stability of the grasp 7-the motor; 8-the first link; 9-the second link; 10-the first slider; 11-the
second slider; 12-the third link; 13-the first spring; 14-the second spring second slider; 12-the third link; 13-the first spring; 14-the second spring
Fig.7. Design of 2-DOF finger Fig.7. Design of 2-DOF finger

 
B. Design of TH-3L hand
The 2-DOF finger and the 3-DOF finger addressed
above are included in the TH-3L Hand shown in Fig. 9. A
motor is embedded in the palm to actuate the thumb to
swing on the side of the hand. The whole hand has 15
DOFs using 6 motors.
(a) Front cutaway view (b) Side cutaway view
1-the first link; 2-the second link; 3-the first slider; 4-the second slider;
5-the third link; 6-the forth link; 7-the fifth link; 8-the third slider; 9-the
sixth link; 10-the first spring; 11ˉthe second spring; 12-the third spring
Fig.8. Design of 3-DOF finger
č. CONCLUSIONS
In this paper, a novel under-actuated finger based on
linkages has been presented. Static analysis of it was
given and matrix that defines grasping force was obtained.
The force control was discussed and proved. Finally, the
designs of the 2-DOF finger, the 3-DOF fingers and
TH-3L hand were presented. Future work includes
manufacture of TH-3L Hand, grasping experiments,
design and integration of the sense system.
ACKNOWLEDGEMENTS
This research was funded by “National Natural
Science Foundation of China” (No. 50905093) and
“Hi-Tech Research and Development Program of China”
(No. 2007AA04Z258).
REFERENCES
[1] Ulrich, N.T. Methods and Apparatus for Mechanically Intelligent
Grasping. U.S. Pat. No. 4957320. 1988.
[2] V.N. Dubey, R.M. Crowder. Grasping and control issues in
adaptive end effectors. 2004 DETC’04 ASME Design Engineering
Technical Conferences and Computers & Information in
Engineering Conference. 2004: 1-9.
[3] H. Kawasaki, T. Komatsu, K. Uchiyama, et al. Dexterous
anthropomorphic robot hand with distributed tactile sensor: Gifu
hand II. 1999 IEEE Inter Conf. Systems, Man, and Cybernetics.
1999: 782-787.
[4] Akin, D.L., Carignan, C.R., and Foster, A.W. Development of a
Four-Fingered Dexterous Robot End Effector For Space
Operations. 2002 IEEE Inter Conf. Robotics and Automation.
2002: 2302-2308.
[5] Figliolini, G. and Ceccarelli, M. A Novel Articulated Mechanism
Mimicking the Motion of Index Finger. Robotica 2002,
Vol.20:13-22,.
[6] Wenzeng Zhang, Demeng Che, et al. Super Under-actuated
Multi-fingered Mechanical Hand with Modular Self-adaptive
Gear-rack Mechanism. Industrial Robot: An International Journal
2009, 36(3) 255–262.
[7] Thierry Laliberte and Clement M. Gosselin. Simulation and
Design of Under-actuated Mechanical Hands. Mech. Mach.
Theory 1998, Vol.33: 39-57.
[8] N.Dechev, W.L. Cleghorn, S. Naumann. Multiple finger, passive
adaptive grasp prost. Mech. Mach. Theory 2001, Vol.36:
1157-1173
B. Design of TH-3L hand
The 2-DOF finger and the 3-DOF finger addressed
above are included in the TH-3L Hand shown in Fig. 9. A
motor is embedded in the palm to actuate the thumb to
swing on the side of the hand. The whole hand has 15
DOFs using 6 motors.
(a) Front cutaway view (b) Side cutaway view
1-the first link; 2-the second link; 3-the first slider; 4-the second slider;
5-the third link; 6-the forth link; 7-the fifth link; 8-the third slider; 9-the
sixth link; 10-the first spring; 11ˉthe second spring; 12-the third spring
Fig.8. Design of 3-DOF finger
č. CONCLUSIONS
In this paper, a novel under-actuated finger based on
linkages has been presented. Static analysis of it was
given and matrix that defines grasping force was obtained.
The force control was discussed and proved. Finally, the
designs of the 2-DOF finger, the 3-DOF fingers and
TH-3L hand were presented. Future work includes
manufacture of TH-3L Hand, grasping experiments,
design and integration of the sense system.
ACKNOWLEDGEMENTS
This research was funded by “National Natural
Science Foundation of China” (No. 50905093) and
“Hi-Tech Research and Development Program of China”
(No. 2007AA04Z258).
REFERENCES
[1] Ulrich, N.T. Methods and Apparatus for Mechanically Intelligent
Grasping. U.S. Pat. No. 4957320. 1988.
[2] V.N. Dubey, R.M. Crowder. Grasping and control issues in
adaptive end effectors. 2004 DETC’04 ASME Design Engineering
Technical Conferences and Computers & Information in
Engineering Conference. 2004: 1-9.
[3] H. Kawasaki, T. Komatsu, K. Uchiyama, et al. Dexterous
anthropomorphic robot hand with distributed tactile sensor: Gifu
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(b) (b)
Fig.9. TH-3L hand Fig.9. TH-3L hand