Design of an underactuated two-finger hand for compliant grasp

Key Points

• The aim is to design an underactuated two-finger hand that improves compliant grasping capabilities in robotic systems.
• Developed a conceptual design of an underactuated hand with two fingers.
• Conducted simulations to evaluate grasping performance and compliance.
• Utilized mechanical design principles to enhance dexterity and adaptability.
• The design achieved improved grasping stability across varied objects.
• Demonstrated effective compliance, allowing better interaction with delicate items.
• Showed potential for application in real-world robotic systems.