Design of a Multi-Mode Mechanical Finger Based on Linkage and Tendon Fusion Transmission

Today, most humanoid mechanical fingers use an underactuated mechanism driven by linkages or tendons, with only a single and fixed grasping trajectory. This paper proposes new multi-mode finger based on linkage tendon fusion transmission, which is embedded adjustable-length to achieve three types of mode. The structural parameters the are optimized according kinematic static models. Furthermore, discussion was conducted how set speed ratio driving motor adjust length tension tendon, in order switching shape-adaptive, coupled-adaptive, variable coupling-adaptive modes. Finally, functionality proposed verified through multiple experiments.