Design, modeling and validation of a low-cost linkage-spring telescopic rod-slide underactuated adaptive robotic hand

This paper presents the design of an underactuated adaptive humanoid Manipulator (UAHM) featuring a link-spring telescopic rod-slide mechanism, which is capable of basic human-like grasping functions. Initially, the mechanical structure of the UAHM is introduced, with a detailed exposition of its transmission mode, finger architecture, and overall configuration. Subsequently, the kinematic and static models of the UAHM are delineated, elucidating the relationship between the phalangeal contact forces, contact positions, and bending angles during both fingertip and envelope grasping. Finally, the experimental platform has been established, and the UAHM prototype has undergone testing, demonstrating commendable dexterity, adaptability, and grasping capabilities. Furthermore, the results of comparative numerical analyses corroborate the validity of the static model.