On the design of a hydraulically actuated finger for dexterous manipulation

We propose an actuator for multi-fingered grippers for industrial robots built around fluid-powered bladders enclosed within the structure of the phalanges themselves. Unlike a normal hydraulic cylinder where the available force is a function of the height and width of the phalanges, in this configuration, the force the fingers can generate becomes a function of the length and width of the phalange. The proposed design is mechanically simple with all actuation elements contained within the phalanges themselves, and has minimal moving parts. This paper presents the dynamic and static characteristics of a finger built from three of these actuators, and simulation results show that the fingertip forces the proposed fingers can generate make them suitable for application in an industrial environment.