Optimal design of a five-bar finger with redundant actuation

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested. Optimal sets of actuator locations and link lengths for the cases of minimum actuator, one, two and three redundant actuators are obtained by employing composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Finally, several finger-configurations optimized for special performance indices are illustrated.