Gripping and holding objects are key tasks for robotic manipulators. The development of universal fingers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the finger which could accommodate to any irregular and sensitive grasping object. The aim of the underactuation is to use the power of one actuator to drive the open and close motion of the finger. The underactuation can morph shapes of the finger to accommodate to different objects. As a result, the underactuated fingers require less complex control algorithms. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant finger designed by topology optimization. The main points of this paper are in explanation of kinetostatic analysis of the proposed finger structure using approximate rigid-body model with added concentrated compliance in every single joint of the finger. The results can be used as estimation for gripping force or finger displacement. 1. Introduction Significant efforts have been made to find robotic finger designs simple enough to be easily built and controlled, in order to obtain practical systems. To overcome the limited success of the early designs, a special emphasis has been placed on the reduction of the number of the finger’s degrees of freedom, thereby decreasing the number of actuators. The strategy for reducing the number of actuators while keeping the finger capability to adapt its shape to the grasped object (in order to increase the number of contact points) is referred to as underactuation. Papers [1–8] show that underactuation allows reproducing most of the grasping behaviors of the human hand, without augmenting the mechanical and control complexity. Due to the multiple degrees of freedom and passive behavior, any compliant mechanism can be considered as an underactuated mechanism [9–14], that is, with fewer actuators than degrees of mobility. Finger compliance allows the finger to passively conform to a wide range of objects while minimizing contact forces. To take full advantage of the dexterity offered by multi-purpose hands, it is needed to be able not only to analyze a grasp but also to synthesize it. In other words, the grasps would be planned that have such features as force closure, feasibility, reachability, compliance, equilibrium, and stability. Grasping is a form closure when positive combination of contact
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