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Design, Modeling and Experiments of a Modular Robotic Finger

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13455))

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Abstract

The robot dexterous hand is a highly flexible and complex end-effector. In response to the complex drive transmission mechanical structure of the traditional humanoid dexterous hand and the difficulty of assembly and maintenance control, etc., a modular linkage-driven robotic finger is designed in this paper based on a linkage drive mechanism. It has two degrees of freedom (two joints) and is compact in structure, low in cost and simple in assembly and maintenance. Compared with underactuated fingers, it is featured with greater dexterity and a stronger adaptive grasping ability. The modular robotic finger kinematics model is established and analyzed. Finally, simulation based on ROS and the experiment based on a finger prototype are constructed. A straight line and a circular arc trajectory is designed to verify the performance of the proposed kinematics method and the feasibility of the modular robotic finger mechanism. Experimental results show that the proposed kinematics method has high accuracy and the designed modular robotic finger structure is reliable.

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Acknowledgments

This work was supported by the National Key Research and Development Program of China (Grant No. 2019YFB1309802) and the National Natural Science Foundation of China (Grant No. 62003048).

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Authors and Affiliations

  1. School of Mechanical Electrical Engineering, Beijing Information Science and Technology University, Beijing, 100101, China

    Qinjian Zhang, Pengcheng Wang & Xingshuai Li

  2. School of Automation, Beijing University of Posts and Telecommunications, Beijing, 100876, China

    Haiyuan Li

Authors
  1. Qinjian Zhang
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  2. Pengcheng Wang
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  3. Haiyuan Li
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  4. Xingshuai Li
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Corresponding author

Correspondence to Haiyuan Li .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institute of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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Zhang, Q., Wang, P., Li, H., Li, X. (2022). Design, Modeling and Experiments of a Modular Robotic Finger. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_53

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  • DOI: https://doi.org/10.1007/978-3-031-13844-7_53

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13843-0

  • Online ISBN: 978-3-031-13844-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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