當機器人執行重複性任務時，夾爪通常與機械手臂一起搭配使用。然而，因為其固定的結構設計，使得夾爪只能用於夾取特定形狀和大小的物體，不適合執行多樣化的工作。因此夾爪需要做出靈巧的動作時，擁有足夠的夾取策略是必不可少的。由於人類手部在操作物體上天生就具有高度的靈巧性，許多研究便開始將注意力轉向擬人化的機器手。在本研究中，透過運動學分析人類自然抓取的動作，並使用堆疊四連桿機構開發出一款具自適應包覆能力以及欠驅動擬人機器手指。此外，透過電腦輔助設計 (CAD) 可以對機構進行建模和運動模擬，並驗證手指的性能和運動軌跡。本研究的創新性在於引入了一款單向致動氣缸，並結合連桿機構來驅動 3 個自由度 (DOF) 的機器手指。在使用相同大小的驅動器情況下，氣壓致動器相較於馬達可以提升約 30% 的作用力。最終，藉由反向驅動性的分析，得以驗證手指機構的高自適應性包覆能力。

In robotic object manipulation, robotic gripper is commonly used alongside with robotic manipulator in carrying out repetitive tasks. However, due to its defined structural design, it is not suitable in performing a number of tasks and is limited to work with a specific shape and size object. For a robotic gripper to perform dexterous object manipulation, the ability to possess adequate grasping strategies is essential. Since the human hand is naturally built with high dexterity in object manipulation, researchers begin to turn their focus on anthropomorphic robotic hand. In this paper, development of an underactuated anthropomorphic robotic finger utilizing a multi-layer four-bar linkage system is presented. Kinematic analysis is performed to design the finger that can mimic the human natural grasping motion in free space and also a self-adaptive grasping. Computer-Aided Design (CAD) is utilized to model and simulate the movement of the design. The finger is fabricated and experimented to verify the motion and performance of the finger. The novelty of this research introduces a pneumatic single acting cylinder that drives a 3 Degrees of Freedom (DOF) robotic finger through its linkage system. Based on the pneumatic actuator, the finger shows a 30% increase in grasping force compared to an electric motor having the same dimension. Moreover, high passive compliance of the finger mechanism is achieved from the analysis of back-drivability.

摘要.....I
ABSTRACT.....II
ACKNOWLEDGEMENTS.....III
TABLE OF CONTENTS.....IV
LIST OF FIGURES.....VII
LIST OF TABLES.....XI
CHAPTER I. INTRODUCTION.....1
1.1 Research Background.....1
1.2 Motivation.....5
1.3 Literature Review of Robotic Hand.....6
1.4 Research Objectives.....10
1.5 Organization of the Thesis.....11
CHAPTER II. ANATOMY OF THE HUMAN HAND.....13
2.1 Bones and Joints.....13
2.2 Degrees of Freedom.....15
2.3 Range of Motion of the Joints.....16
2.4 Natural Grasping Motion of the Finger.....18
2.5 Self-Adaptive Grasping Motion of the Finger.....19
CHAPTER III. MECHANISM DESIGN OF THE ROBOTIC FINGER.....22
3.1 Design Goal.....22
3.2 Mechanical Design.....23
3.2.1 Design Concept.....23
3.2.2 Operating Principle.....25
3.2.3 Kinematic Analysis.....27
3.2.4 Calculated Result.....37
3.3 3D Modeling and Simulation.....50
CHAPTER IV. EXPERIMENT AND VALIDATION.....54
4.1 Pneumatic System.....54
4.1.1 System Setup.....54
4.1.2 Operating Principle.....55
4.2 Control System.....57
4.3 Fabricated Model.....57
4.3.1 Motion Verification.....58
4.3.2 Object Grasping.....61
4.3.3 Grasping Force.....62
4.3.4 Compliance Analysis.....64
CHAPTER V. CONCLUSION AND FUTURE WORK.....67
5.1 Conclusion.....67
5.2 Future Work.....68
REFERENCES.....69

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