TENDON ACTUATED MECHANISM BASED ROBOTIC PROSTHETIC HAND DESIGN FOR DEXTEROUS MANIPULATION AND GRASPING

In Robotic hand designit’sapronounced challenge to afford a robotic arrangement with dexterous aptitude and independent skilfulness particularly in the field of prosthesis, Industrial manufacturing, orthopaedic rehabilitation etc. Avery high diverse level of actuation and transmission scheme is requisite for a multi-fingered robotic hand to accomplish its manoeuvre. The under actuation concept become an encouraging way out to obtain robotic hands with high dexterity without additional complex mechanical design. The foremost feature of an under actuated robotic hand is that the total actuators required to function the hand is fewer than its movability or degree of freedom. The Under actuation decreases impressively the complication of the control system and is less expensive than the fully actuated equivalent hand. The hand is also lighter that it’s fully actuated equivalent. The current work proposed with the design and Kinetostatic analysis of a five-fingered robotic hand in which four under actuated fingers and an under actuated thumb with dexterity is present with a whole of twenty one Degrees of freedom and twelve numbers degree of actuation