Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

With the idea of mechatronic integration, a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head, bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors, joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body, driving system, sensors and electronics.