SOME ISSUES ON DESIGNING ROBOT

FINGERS FOR STABILITY OF GRASP WITH

ENHANCED FORCE

Soumya Das,Indranil Gupta, and Bibek Jyoti Das

Final Year, Dept. of Mechanical Engineering and
Production Engineering
Haldia Institute of Technology
 OBJECTIVE & SCOPE

Objective

primary objectives of the investigation is,

to develop one finger with a kinematic linkage system

with the similar motion characteristics to human fingers.

Scope

The scope of the present project emphasizes on

development of a robotic hand with newly developed
finger for dexterous manipulation with further integration
to sensory motor systems.
EVOLUTION OF A DIRECT LINKED ROBOTIC
HAND

In the present investigation, a direct linked robotic finger

has been developed, that can replicate the human finger
motion characteristics. Synthesis has been done on the
basis of some pre defined criterion and the finger has
been analyzed through ADAMS as well as real life model
simulation. It has been observed that as per as the
grasping forces are concerned this poses higher grasping
force.
BASIC GRASPING ALGORITHM

Planning
&
Interpreting
Command

Preshaping

Grasping force

Holding

Yes No
Slip

Stable Grasp
 RANGE SYNTHESIS OF DIRECT LINK FINGER  

To synthesis the finger two conditions are given,

a) the ratio of the fingers is given. If the length of the L5 is ‘a’
length of the link L7 is ‘1.6a’ and length of the link L8 is
‘2.58a’.
b) the final positions between the links are known, i.e. angle
between the link L7 and link L8 is 900 and after that the angle
between the link L7 and link L5 is 1200. The link L8 would be
fixed to the ground.
 
Then by trial and error method the links of the robot finger is
synthesized.
THE KINEMATIC LINKAGE FOR ACTUATION
OF THE FINGER

Input link Finger tip

GRASPING FORCE ANALYSIS

PT = Input force

Force at E (Along L2)

PT
PL2 =
sin(θ 2 + θ1 )

Force along L4

sin(θ 2 + θ 3 ) L0
PL4 P
= T sin(θ + θ ) sin(θ − θ ) L×
1 2 4 3 3
FORCE AT FINGER TIP

sin(θ 2 + θ 3 ) sin(θ 4 − θ 5 ) L0 L5
F = PT × ×
sin(θ1 + θ 2 ) sin(θ 4 − θ 3 ) L3 L6
At a particular position, with measured angles and
synthesized lengths of links, the relation between F and PT
has been developed as

F = 0.84 × PT
FINGER ACTUATION MECHANISM (THROUGH
‘ADAMS’)

Initial Position of The finger

Final Position of the Finger

PHOTOGRAPHIC VIEW OF THE FINGER

Finger tip

Point of force application

 EXPERIMENTAL SETUP

After synthesizing
the wholesome
design of the robot
finger, the robot
finger has been
manufactured by
aluminum sheet
and rivet.

Then an experiment has been performed by the robot finger

and load-cell apparatus. In the experiment, the fixed link has
been attached (of the finger) with a rigid body. A rope pulley
arrangement is to apply the loads. The tip of the finger is on
the load cell. Then the loads have been applied and get the
readings.
RESULTS

The theoretical value of the fingertip force is a bit higher than

the actual grasping force, which was had from the
experimentation with the load cell.
FUTURE SCOPE

A robotic hand may be developed employing the

newly developed fingers with proper sensory motor
system. The object information may be grabbed by
camera. Hence, utilizing vision integrated Prehension
techniques and stability criterion, the real time stable
grasp may be achieved.
 ACKNOWLEDGEMENTS

 The author is highly indebted to his project guide and teacher

Mr. Bikash Bepari, Lecturer, Department of Mechanical and
Production Engineering for his guidance, perpetual
inducement and constant encouragement which made the
daunting task much easier to bear.

 The author is grateful to Mr. Subhadip Sarkar, Lecturer,

Department of Mechanical and Production Engineering for his
help and cooperation.

 The author expresses his sincere thanks to Mr. Susanta

Banerjee, TIC Department of Mechanical and Production
Engineering his help to carry out to do this project.
Thank you!