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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.10349 |
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| _version_ | 1866912757515812864 |
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| author | Yuan, Quan Du, Zhenting Cao, Daqian Bai, Weibang |
| author_facet | Yuan, Quan Du, Zhenting Cao, Daqian Bai, Weibang |
| contents | Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a compact form remains challenging. This paper presents an under-actuated tendon-driven robotic finger (UTRF) featuring a synchronous tendon routing that mechanically couples all joints with fixed angular velocity ratios, enabling the entire finger to be actuated by a single actuator. This approach significantly reduces the number of actuators required in multi-finger hands, resulting in a lighter and more compact structure without sacrificing stiffness or compliance. The kinematic and static models of the finger are derived, incorporating tendon elasticity to predict structural stiffness. A single-finger prototype was fabricated and tested under static loading, showing an average deflection prediction error of 1.0 mm (0.322% of total finger length) and a measured stiffness of 1.2x10^3 N/m under a 3 kg tip load. Integration into a five-finger robotic hand (UTRF-RoboHand) demonstrates effective object manipulation across diverse scenarios, confirming that the proposed routing achieves predictable stiffness and reliable grasping performance with a minimal actuator count. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_10349 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing Yuan, Quan Du, Zhenting Cao, Daqian Bai, Weibang Robotics Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a compact form remains challenging. This paper presents an under-actuated tendon-driven robotic finger (UTRF) featuring a synchronous tendon routing that mechanically couples all joints with fixed angular velocity ratios, enabling the entire finger to be actuated by a single actuator. This approach significantly reduces the number of actuators required in multi-finger hands, resulting in a lighter and more compact structure without sacrificing stiffness or compliance. The kinematic and static models of the finger are derived, incorporating tendon elasticity to predict structural stiffness. A single-finger prototype was fabricated and tested under static loading, showing an average deflection prediction error of 1.0 mm (0.322% of total finger length) and a measured stiffness of 1.2x10^3 N/m under a 3 kg tip load. Integration into a five-finger robotic hand (UTRF-RoboHand) demonstrates effective object manipulation across diverse scenarios, confirming that the proposed routing achieves predictable stiffness and reliable grasping performance with a minimal actuator count. |
| title | Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.10349 |