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 |