Force and Torque studies in Multifinger Robotic Gripper-A Review

Abstract

This study focuses on the design and development of a tendon-driven multi-finger robotic gripper incorporating compliant springs. The primary objectives include analyzing the forces within the tendons and structural links of the gripper, as well as evaluating the torques at each finger joint. A comprehensive grasp analysis is conducted by simulating the robotic hand interacting with various objects to identify the fingertip contact points on the object surfaces. The hand's performance is assessed by simulating its ability to grasp objects of varying dimensions. MATLAB's SimScape environment is utilized for 3D visualization and simulation of the robotic hand, where finger movements are controlled to perform grasping tasks. The study further investigates the grasp forces to calculate the contact forces and the tendon tensions generated by both the thumb and fingers to ensure a secure grip on cylindrical objects of different sizes, weights, and materials. The mathematical analysis confirms that the tendon tension and internal link forces scale proportionally with the object's weight.