Development of a reducer geared mechanism: performance analysis on a full-actuated adaptive finger application

Abstract

The human hand is a manipulator with extraordinary capabilities, the elements that constitute it make its emulation too complex. There are manipulators with amazing and outstanding abilities that have become too complex and costly. Alternatively, there are under-actuated and self-adaptive manipulators that are simple and affordable, have appropriate performance, although their functions and gripping modes are limited and may not be entirely reliable. This paper exposes the proposal of a 12-gear reducer mechanism in 3 phases with linear array, designed to maintain a constant link transmission, amplifying the torque while the angular speed is reduced exponentially. The mechanism is attached a finger casing based on anthropomorphic aspects and is replicated twice, turning the finger into a fully actuated mechanism and with the possibility of being adaptive to different grip modes. A broad description of the system elements and their design rationale is presented. A mathematical model is developed to know the performance of the finger as a function of torque, force, angular speed and execution time of the movement, the results obtained are shown graphically accompanied by their respective concept expressions. Subsequently, the conclusions are presented. Finally, future works are described.