Development and kinematics/statics analysis of rigid-flexible-soft hybrid finger mechanism with standard force sensor

•Design a rigid-flexible-soft hybrid finger mechanism, analyze its structure performances,•Construct its equivalent mechanism with variable length flexible rod,•establish kinematics/ statics formulae of equivalent mechanism,•Construct simulation mechanism of equivalent mechanism, verify theoretical solution A prototype of a rigid-flexible-soft hybrid finger mechanism with a standard force sensor is developed, and its kinematics and statics are studied systematically. First, its structure performances are analyzed, its equivalent mechanism is constructed and the degree of freedoms of the equivalent mechanism with constant or variable length of the flexible rod are analyzed. Second, the kinematics formulas are derived for solving the position, the velocity, the acceleration of the fingertip in the equivalent mechanism with a constant length of the flexible rod. Third, the statics formulas are derived for solving the various forces applied onto the fingertip, the key links and the sensor as the flexible rod with or without deformation. Fourth, the theoretical solutions of the equivalent mechanism are verified by its simulation mechanism. Finally, its experiment measuring system is built up, and its several merits are proofed by the measured results.