Synthesis of anthropomorphic fingers for robotic hands

This work aims to study and develop kinematic mechanisms for robotic fingers that can show anthropomorphic functions similar to human hand. Available mechanisms used for fingers in prosthetic hands and robotic hands are studied and their functional links and joints are noted. By observing and evaluating their kinematic chains, available kinematic chains and their link arrangement is noted. Using the theory of number synthesis, different link arrangements are found out and for these arrangements, different kinematic chains are drawn. For these kinematic chains, mechanisms are simulated in SAM software and hence 21 new working finger mechanisms for robotic hands or for prosthetic hands are developed.