Project #2

Mechanical Design II
Design of a robotic underactuated finger
The grippers are very important in automation industry. They are used for product testing, they can be
automated for precise, repeatable movements with the same applied force. By controling speed, force and
position they can be used in assembly of parts on manufacturing site. They can replace a skilled machinist, a
robot can feed parts and empty the machine, while machinist: programs, performs preemptive maintenance and
improves manufacturing process. They definitely increase production capacity without increasing the
headcount on factory floor.
Underactuated fingers have less number of actuators than totals DOFs and are widely utilized in designs of
various robotic hands for industrial and service robotics, as shown in Figure 1. This is largely attributed to the
relatively simple design of such mechanisms comparing with fully actuated dexterous artificial fingers. The
underactuated finger mechanism ensures close wrapping of different shape objects due to its adaptive grasping
capability with one (or less) actuator.
The objective of this project is to design a three degree of freedom robotic finger with actuation system.
The finger should utilize only one actuator and have 3DOF.

Figure 1. Robotiq 3-finger gripper & Kinova KG-3 gripper

The electronics and griper design is not needed for the current project. The power required by actuator for the
proper functioning of the finger must be justified with proper calculations. Aluminum is prefereable for the
material of the body. Materials choice for shafts, springs should be justified and chosen accordingly. A
complete list of instrumentation used for the successful operation of finger must be provided along with key
data sheets in the form of appendices, with the technical report. The mechanism design and appropriate

calculations must be included in the project report along with all necessary information. The detailed CAD
drawings must be included in the project report in the form of appendices.
Submission Guidelines
The project will be carried out in the form of team of two members. The project requires the submission of the
technical report. The report will be assessed based on the quality of proposed solution.

The finger should have three degrees of freedom.

The finger should have one actuator, and use passive element, like compression, extension or torsion
spring.

The design of a mechanical finger includes linkage, gear or tendon system analysis, shafts, springs.

Anthropomorphism is not a design concern.

The design calculations must ensure safety operation for all parts.

Computerized tools may be used in order to iterate for the design parameters.

The overall length of the finger should be within the range of 10-15 cm, and width should not exceed
3 cm.

It must be capable of lifting 2 kg load.

The motors including gearheads should be selected from Maxonmotor or Faulhaber catalogue
website.

The total price for the finger should be considered.

Mechanical finger will be operating at room temperature.

If possible shafts, springs and any complementary parts can be chosen from the available sources.

After calculations are done, and it is safe against the loading with specified safety factor, CAD tools
should be used for visualizing the proposed finger design, including drawings (TOP, FRONT,
RIGHT, SECTION VIEW, and DETAIL VIEW).