Anthropometric and anthropomorphic features applied to a mechanical finger

This work presents the dimensional synthesis for a mechanical finger, based in four bar mechanisms, where the anthropometric and kinematic constrictions of the human finger are satisfied; the basic criteria used for the dimensional synthesis is the maximum rotation angle for each phalanx, so a human like motion may be achieved. The synthesis of each finger is obtained via Freudenstein’s methodology, assuming that the links lengths are constant, and fixed to a main link, the pivot of the system is the knuckle. The only variable which may modify the displacement behavior of the system is the coupler links for each four-bar mechanism; therefore its length is directly related to the position of the finger, such a mechanism has to be able to withstand the average loads and impacts that may happen in a unstructured environment.