Design and Experiments of an Anthropomorphic Finger with Circular Arc Staggered Compliant Joints

In order to reduce the axis position change during the compliant joint motion, improve its anthropomorphic appearance and fabrication convenience for the anthropomorphic finger, two kinds of circular arc staggered compliant joints were proposed in this paper, and they were analyzed through finite element simulation (FEA) and experiments, Then the compliant joint of "C+ structure in the middle and two C- structures symmetrically distributed on both sides" was applied to the design of an anthropomorphic finger. Finally, the finger was made using 3D printing and experiments were done. The experiments show that the proposed joint in this paper has smaller axis position change during motion. The finger with the proposed compliant joint has good anthropomorphic appearance and passive adaptability, which is helpful to enhance the grasping stability. In addition, the design and fabrication method used in this paper is helpful to realize the rapid and lightweight design and fabrication of anthropomorphic hands.