Design of a Super Underactuated Dexterous Robotic Hand

The development of a dexterous robotic hand is one of the most important research areas in robotics. In order to grasp a variety of objects, the dexterous robot needs more degrees of freedom, so it requires many motors and complicated structures, which leads to an increase in the weight and size of the dexterous robot hand. This article presents a novel super underactuated robotic hand that uses just one motor and has three cooperative fingers with two phalanxes per finger. The three fingers have the same structure, work in a cooperative mechanism and is driven by the single motor, with a total of 6 degrees of freedom. The grasping principle, process and force analysis are given. Force analysis shows that the super underactuated robot hand is valid and could be used as an end-effecter of humanoid robots. The experiment results verify the stability of the novel mechanism.