Design and Grasping Experiment of Modular Reconfigurable Three-finger Dexterous Hand

In unstructured environments such as service and industrial,dexterity in grasping objects is challenging due to the diversity and uncertainty of grasping objects,grasping parts,and working processes.A new modular reconfigurable three-finger dexterous hand was developed based on the linkage driven mechanism.The finger and the palm both adopted modular design,and the two joints of the modular finger were driven by the linkage mechanism,which effectively reduced the size of the finger,and obtained a larger fingertip force,reducing the complexity of manufacturing and maintenance.The reconfigurable palm can change the spatial position of the modular fingers to form the optimal grasping posture for different grasping objects.It has been characterized by 7 active degrees of freedom (6 joints),a fingertip force of 25N,a payload of 5kg,a weight of 1.55kg,compact size,force sensing capability and easy integration.The grasping experiment of daily necessities and tools verified the effectiveness and dexterity of the dexterous hand.The results show that the modular reconfigurable three-finger dexterous hand can dexterously grasp and operate daily necessities and tools,which can effectively meet the needs of dexterous grasping in the service and industrial fields.