Abstract: |
An under-driven adaptive mechanical finger has the first and the second knuckles, active plate and under-driven joint consisting of big gear axle, duplicate gear axle, small gear axle and spring linked between two knuckles. The said three gear axles are sleeved on the first bnackle. Its advantages are no need of own driver, lifelike appearance similar to human finger, small size, simple structure, light weight, low requirement to control system, and several degrees-of-freedom. |