Modelling and Grasping Analysis of an Underactuated Four-Fingered Robotic Hand

In the field of industrial environment, prosthetics, rehabilitation, space applications, medical applications, etc., the implementation and use of the robotic hand is of significant prominence to achieve reasonable accuracy and improve production. For perfect grasping, dexterity manipulation and shape adaption the concept of underactuation is an appropriate approach. This paper implements the modelling of a four-fingered robotic hand and the analysis of the material used in the hand during grasping. The proposed robotic hand consists of a four underactuated fingers that are alike to each other. Each finger consists of three phalynx and three joints. Under actuation is carried out by tendon and pulleys. The proposed robotic hand has four fingers with a total of twelve numbers of joints with a total of sixteen degrees of freedom. Solid work platform is used to model the hand and a finite element-based analysis is performed to analyse the various mechanical parameters based on the materials used in the model. The robotic hand holds a cuboid with its fingers. The analysis is accomplished concerning three types namely deformation, stress and strain test. The analysis provides significant data about the parts of the robotic hand that can be destroyed if subjected to greater force. Therefore, this could be useful for a major design upgrading and confirming the suitability of the robotic hand in actual application.