Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation

This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.