Mechanical finger based on three coupled Four-bar mechanism

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 syntheses of each finger is obtained via Freudenstein's methodology, assuming that the links lengths are constant, an fixed to a main link, and the pivot of the system is the knuckle. The only variable which may modify the displacement behavior of the system is the coupler, for each four-bar mechanism, therefore its length is directly related to the position of the finger.