Design of an Underactuated Robotic Hand

Underactuated hand is a type of robot which is able to grab object in different shape or size by adjusting the joints of fingers automatically. In order to solve problems of deviation in bearings and reduce damage in gear box, we propose a method to simplify transmission and lower resistance, improving life deterioration of motors. In this paper, the optimizing mechanical design of the hand will be presented, as well as the working principle and clamping range, by using image and MATLAB.