Skip to main content

Table 2 3-knuckle finger in shortest length finger grasp

From: Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Parameter L (mm) D (mm) b1 (mm) b2 (mm)
Value 1132.79 346.66 357.56 393.07
Parameter b3 (mm) θ1 (°) θ2 (°) θ3 (°)
Value 382.16 31.00 32.01 68.02
Parameter F y (N) F1 (N) F2 (N) F3 (N)
Value − 1.50 0.61 0.32 21.12