Abstract:

Addressing the inherent trade-off among structural complexity, grasping force, and compliance in conventional multi-fingered hands, this paper proposes a modular design methodology that synergizes the transmission advantages of linkages and tendons. The finger modules integrate rigid linkage mechanisms with tendon-spring compliant systems to achieve coupled proximal/distal phalanx motion, delivering enhanced grasping force and compliance while maintaining low systemic complexity. Through analysis of force-displacement coupling relationships, kinematic models correlating fingertip contact forces with compliant joint rotations are established, quantitatively characterizing grasp compliance. The thumb employs a unidirectional tendon-driven mechanism, where mapping relationships between actuation angles and phalange rotations combined with staggered-stiffness torsional springs ensure grasping adaptability while minimizing volumetric footprint and enabling precise fingertip control. Modular architecture significantly streamlines manufacturing, installation, and maintenance processes, reducing overall costs. Experimental results demonstrate high compliance and adaptability: 11 precision grasps and 5 power grasps classified under the Feix Taxonomy are achieved, with single-finger lifting capacity reaching 98 N at conventional dimensions. The implemented hand has been successfully integrated into GAC R&D Center's GOMATE Humanoid Robot System, providing high-adaptability grasping solutions for humanoid service robotics.

Key words:

hybrid transmission, linkage transmission, tendon transmission, bionic design, adaptive grasping