Optimization and Analysis of Underactuated Linkage Robotic Finger

Abstract

In this study it is required to maximize the transmission performance, which is leading to increase the transmitted torque from the actuated joints to the underactuated joints through transmission mechanism. Accordingly grasping forces in finger phalanges will increase. Studying the four bar mechanism parameters of a specific configuration within defined limits led to the linkage transmission defect parameter, which play a major role in deciding the linkage performance, used as optimization objective function to be minimized. This study presents an optimization procedure carried out using matlab fminunc function, formulated by using Freudenstein's equations to be applied on a (Cassino-Underactuated-Multifinger-Hand) design , using  one finger and a thumb .A mathematical model of grasping forces of the finger were introduced taking into account the solid links in the( Ca.U.M.Ha)  robotic finger .

Keywords: Linkage , underactuated, optimization