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International Journal of Automation and Computing 2018, Vol. 15 Issue (5) :593-602    DOI: 10.1007/s11633-018-1125-z
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A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers
Xia-Li Li, Li-Cheng Wu, Tian-Yi Lan
School of Information Engineering, Minzu University of China, Beijing 100081, China
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Abstract In this study, we improved an underactuated finger mechanism by using Solidworks to simulate the grasp operation of a finger in some different situations. In addition, a robot palm is designed for the three-finger robot hand with the designed underactuated fingers. A Solidworks simulation was used to verify the rationality of the design. Some parts of the hand were modified to fit for 3D printing, and a prototype of the hand was produced by 3D printing, which could reduce the cost of the production process, as well as provide design flexibility and other advantages. Finally, some grasping experiments were made with the prototype. The results showed that the robot could grasp objects with different sizes, and further verified the rationality of the design and feasibility of fabricating the robot hand using 3D printing.
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KeywordsMechanical finger   three-finger robotic hand   underactuation   grasping simulation   Solidworks     
Received: 2018-01-08; published: 2018-01-18

This work was supported by National Natural Science Foundation of China (Nos. 51375504 and 61602539) and the Program for New Century Excellent Talents in University.

Corresponding Authors: Li-Cheng Wu     Email: wulicheng@tsinghua.edu.cn
About author: Xia-Li Li research interests include intelligent robot, computer games, minority chess cultures within China. E-mail:xiaer_li@163.comORCID iD:0000-0001-7950-6204;Li-Cheng Wu research interests include artificial intelligence and robotics, especially modeling and control, dynamic analysis, mechanical design and AI on manipulator and robot. E-mail:wulicheng@tsinghua.edu.cn (Corresponding author)ORCID iD:0000-0001-5739-634X;Tian-Yi Lan is a master student of the School of Information Engineering, Minzu University of China. His research interests include artificial intelligence, robot and robotic arm. E-mail:lantianyi156@outlook.com
Cite this article:   
Xia-Li Li, Li-Cheng Wu, Tian-Yi Lan. A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers[J]. International Journal of Automation and Computing , vol. 15, no. 5, pp. 593-602, 2018.
http://www.ijac.net/EN/10.1007/s11633-018-1125-z      或     http://www.ijac.net/EN/Y2018/V15/I5/593
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