A new method to design robotic hand based on cross-axis flexural pivots

This paper puts forward a new method in designing the robotic hand. The innovation of the design is to use the cross-axis flexural pivots as the joints of the finger. The paper first discusses the advantages of flexible joints compared to other joints in the design process of robotic hand. The normal flexible joints used in the robotic fingers are presented. After a brief discussion, a new approach which applies cross-axis flexural pivots in the robotic finger is raised. The pseudo-rigid-body model is established for the new design of robotic finger. Manipulator kinematics is also conducted in this paper.