Design and analysis of tendon drive mechanism for biomimetic robot fingers

BU Duo-duo， ZHOU Jian-jun， MA Tian-wen
（School of Mechanical Engineering， Hangzhou Dianzi University， Hangzhou 310018， China）

Abstract： In order to solve the problem that the multi-DOF finger mechanism for biomimetic robot is complex，a tendon drive one based on underactuated drive principle was put forward. The finger configuration design，joint and its rotation angle analysis，torsional spring design，motor power calculation，location/force sensor selection，as well as the control system design for the realization of the mechanism were introduced. A 3D model was constructed and analyzed，and a further prototype finger was tested. The experimental results show that，this method is practicable，which is simple and able to carry things by bending and stretching motion.
Key words： dexterous finger；tendon actuation；underactuated；drive and control