A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers

  • Xia-Li Li
  • Li-Cheng WuEmail author
  • Tian-Yi Lan
Research Article


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.


Mechanical finger three-finger robotic hand underactuation grasping simulation Solidworks 


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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.


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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Information EngineeringMinzu University of ChinaBeijingChina

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