Dukchan Yoon

Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping

This paper presents a 3-DOF linkage-driven underactuated finger for achieving several different grasp modes. This finger mechanism is constructed by stacking one five-bar mechanism over one double parallelogram. This special architecture allows for installing all of the actuators on the base. A 2-fi…