Mechatronic Hand Designing with an Integrated Mechanism in Palm for Finger Efficiency Improvement

One of the most important cases in humanoid robot designing is hand, which is considered as any country's development. High percentages of robot work quality depend on hand capability. A robot function increases with hand movement. One of important movements in artificial hand capability is related to fingers' lateral movement. This case has more effects on taking special objects such as round shapes or moving the taken objects. The present research investigates robotic hand designing in humanoid patterns based on embedding motor in palm and also a new mechanism was presented for finger's lateral movement. The proposed mechanism was simulated in Solid works' software and static and dynamic analyses were done on it. Appropriate size and shape for finger's lateral movement was considered as the major aim in this research.