Design of humanoid finger with an independent link

A robot finger structure having dependent joints is provided to realize a robot finger having various degrees of freedom by using a small number of motors. A robot finger structure having dependent joints includes a motor, a horizontal bevel gear(120), a vertical bevel gear(125), a wire ring(130), a third member(110), a second member(150), a finger tip member(160), and a wire(140). The motor provides a torque for moving a finger. The horizontal bevel gear is connected to the motor to be horizontally rotated. The vertical bevel gear is enmeshed with the horizontal bevel gear to be vertically rotated according to the rotation of the horizontal bevel gear. The wire ring is engaged with the vertical bevel gear to be rotated. The third member includes the motor and the wire ring is installed at a hinge portion of the third member. The second member is engaged with the hinge portion of the third member. The finger tip member makes contact with an object. The second member and the finger tip member are moved in connection with each other by the rotation of the motor to be folded or unfolded.