Gear-rack based underactuated robotic hand

This paper presented a new design for underactuated robotic hand which has four grasping modes for objects. The robotic hand has three fingers. The underactuated mechanism of thumb is composed of gear-rack structure and the other two fingers work as a 2DOF gripper. The robotic hand can form both opening and closing motions with one motor. There is another motor which can control the distance between the roots of fingers. The main objective of this paper is to develop a robotic hand suitable for operating different chemical processes. The robotic hand can simulate the action of people; operating pipette, grasping irregular objects like flask to pour out, and shaking the liquid.