Sharif Digital Repository

Robots have been widely used for various applications, especially during the last decades. Robots are made of several parts, in which, "Hand" is one of the most important of those. Hands are designed according to their applications and are not necessarily like human ones. Development of humanoid robots, however, brings a special place to human-like hands. In this research, a force-isotropic underactuated finger with two phalanxes and one actuator is designed, considering design limitations and through static analysis. Tendon, cam and mechanical lock (ratchet gear) are among the main components which have been considered in the finger design. Then, a model was fabricated and tested in order...