Advancements in Robotic Arm Design: Analyzing Gripping and Grasping Mechanisms

Abstract

The main objective of this project is to design and build a child-sized prosthetic hand that can passively adapt to a grasp. The ability of the fingers to adapt to the shape of an object grasped in the hand is known as an adaptive grip. Four fingers and the thumb flex inward and individually adjust to the contour of the object being grabbed as the hand closes around it. When holding an item like a cube, ball, or pyramid, the fingers and thumb end up in a different ultimate grasp position. The systems of the hand passively achieve this flexibility. As a result, there is no need for sensors or electronic processing, and the design is straightforward and efficient. As a result, there is no need for sensors or electronic processing, and the design is straightforward and efficient. This hand's function is to make objects easier to grab while also enhancing the hand's dynamic and static cosmesis to make it appear as natural as possible. In this study of dextrous arm , we have studied the flexibility test for different materials and obtained different readings showing linear characteristics of flexibility against distance between arm fingers. The graph obtained is linear in nature which shows with the increase in distance the flexibility of arm fingers increases. To assess the effects of adaptive grasp on stability, more research will be needed.