Table 4 Parameters of the prototype of the robotic hand used in the experiments

Radius of fingertip

\(r_{i}\)

0.030

(m)

Initial grasping force

\(f_{d}\)

4

(N)

Length of link1

\(l_{1}\)

0.052

(m)

Length of link2

\(l_{2}\)

0.05

(m)

Length of link3

\(l_{3}\)

0.085

(m)

1nd arm degree

\(q_{1}\)

(0, 0.348, 1.221)

(rad)

2nd arm degree

\(q_{2}\)

(0, 0.348, 1.221)

(rad)

3nd arm degree

\(q_{3}\)

(0, 0.348, 1.221)

(rad)

Resolution

\(0.36^{\circ }/\text {Pulse}\)

Rotor inertia

\(9.2 \times 10^{-7}\; {\text{kg m}}^2\)

Holding torque

0.095 (\(\text {N} \,\text {m}\))

Power input voltage

DC24V

Power input current

1.6A

Gear ratio

20:1