Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers

Huixu Dong*, Ehsan Asadi, Chen Qiu, Jiansheng Dai, I. Ming Chen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)


In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models.

Original languageEnglish
Pages (from-to)447-462
Number of pages16
JournalMechanism and Machine Theory
Early online date16 Sept 2018
Publication statusPublished - 1 Dec 2018


  • Design optimization
  • Fingertip design
  • Fingertip grasp
  • Stability analysis
  • Under-actuated gripper


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