Abstract: An under-actuated mechanism is designed and developed for robotic hand application suitable for handling both regular and irregular shaped objects. The hand consists of three fingers and use two actuators to control 6 degree-of-freedoms (DOFs) and proves to be versatile for material handling in small to large scale application. A rotary actuator is used and grasping of object is done by actuating three fingers on a sliding base. In addition, a linear actuator is used simultaneously to complete grabbing of the object. ‘SoildWorks’ software has been used and a solid model of the hand is developed with illustration of the grasping and grabbing operation of the mechanism. Mathematical relationships of the linkages have been established that describes the actuation mechanism including several design parameters. Acrylic polymer sheets are used and various parts of the hand are manufactured using Laser cutting technique and finally the robotic hand was assembled. The robotic hand has been tested and is shown to grab both cylindrical and spherical objects. The novelty of the mechanism is that it reduces the number of actuator and in turns makes it cost-effective and also reduces the weight of the end-effector.Keywords: Under actuation, Grasping, Mechanism, Sliding base, Paired Gear
