Abstract

Abstract The importance of end tools – equipped at the end of the manipulator – in grasping various elements has long been a controversial topic, hampered in part by lack of multi-function. Here, we propose a novel underactuated hand named Linkage Spline Dexterous Hand (LSDH). The underactuated LSDH finger can adapt to irregular objects without requiring complicated parallel linkages. Furthermore, the grasping process of the LSDH finger is composed of two sequential steps: initial parallel pinching, followed by indirect adaptive grasping. To study the grasping action of the LSDH finger, kinematics, force analysis and performance evaluation of the 3-joint LSDH finger are performed. And the contact force between the object and the middle phalange can reach 20 N, which is an improvement over the latest literature. To evaluate the performance of the LSDH finger, the dexterity, and the workspace of the LSDH finger are analyzed. When the length of proximal phalange gets the value of 28 mm and the proximal shaft rotation angle gets the value of 51°, the indicator of dexterity can reach to the best effect. It is adopted to realize operating steps of the finger phalanges that are like those of hands while utilizing only one drive for each finger.

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