A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers
In this study, we improved an underactuated finger mechanism by using Solidworks to simulate the grasp operation of a finger in some different situations. In addition, a robot palm is designed for the three-finger robot hand with the designed underactuated fingers. A Solidworks simulation was used to verify the rationality of the design. Some parts of the hand were modified to fit for 3D printing, and a prototype of the hand was produced by 3D printing, which could reduce the cost of the production process, as well as provide design flexibility and other advantages. Finally, some grasping experiments were made with the prototype. The results showed that the robot could grasp objects with different sizes, and further verified the rationality of the design and feasibility of fabricating the robot hand using 3D printing.
KeywordsMechanical finger three-finger robotic hand underactuation grasping simulation Solidworks
Unable to display preview. Download preview PDF.
This work was supported by National Natural Science Foundation of China (Nos. 51375504 and 61602539) and the Program for New Century Excellent Talents in University.
- M. A. A. Rahman, M. Mizukawa, D. Phaoharuhansa, A. Shimada. Modelling and simulation of robotic systems using SYSML. International Journal of Modelling and Simulation, vol. 33, no. 3,pp. 152–161, 2013. Doi: 10.2316/Journal. 205.2013.3.205-5797.Google Scholar
- Z. W. Liang, P. Shen, X. J. Li. Walking motion design of humanoid robots in RoboCup3D simulation platform. International Journal of Modelling and Simulation, vol. 35, no. 1,pp. 352, 2015. DOI: 10.1080/02286203.2015.1080453.Google Scholar
- L. C. Wu, G. S. Yang, Z. Q. Sun. Review on underactuated finger mechanism. Journal of Central South University (Science and Technology), vol. 42, no. S1, vol.42, no. S1, pp. 417–422, 2011. (in Chinese)Google Scholar
- M. Ceccarelli, C. Tavolieri, Z. Lu. Design considerations for underactuated grasp with a one D.O.F. anthropomorphic finger mechanism. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Beijing, China, pp. 1611–1616, 2006. DOI: 10.1109/IROS.2006.282051.Google Scholar
- N. Omarkulov, K. Telegenov, M. Zeinullin, A. Begalinova, A. Shintemirov. Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics. In Proceedings of the 37th Annual International Conference of Engineering in Medicine and Biology Society, IEEE, M ilan, Italy, pp. 2474–2477, 2015. DOI: 10.1109/EMBC.2015. 7318895.Google Scholar
- C. Luo, S. C. Yang, W. Z. Zhang, Z. Y. Ren, J. H. Liang. MPJ hand: A self-adaptive underactuated hand with flexible fingers of multiple passive joints. In Proceedings of International Conference on Advanced Robotics and Mechatronics, IEEE, Macau, China, pp. 184–189, 2016. DOI: 10.1109/ICARM.2016.7606916.Google Scholar
- R. R. Ma, A. M. Dollar. An underactuated hand for efficient finger-gaiting-based dexterous manipulation. In Proceedings of IEEE International Conference on Robotics and Biomimetics, IEEE, Bali, Indonesia, pp. 214–221, 2015. DOI: 10.1109/ROBIO.2014.7090666.Google Scholar
- B. Swalens. Support generation for rapid prototyping. In Proceedings of the 9th European Conference on Rapid Prototyping and Manufacturing, Athens, Greece, pp.115–121, 2000.Google Scholar
- S. J. Huo, S. Q. Fan, C. Y. Zhao. Measurement of fingers’ width and length of every segment in human. Progress of Anatomical Sciences, vol. 9, no. 4, pp. 326–328, 2003. DOI: 10.3969/j.issn.1006-2947.2003.04.014. (in Chinese)Google Scholar