Tendon-Driven Three Finger Jointed Gripper

Tendon-Driven Three Finger Jointed Gripper Preview

A tendon-driven three-fingered gripper with articulated joints. The actuator can be mounted in the palm or below in the wrist area.

Project Details

A tendon-driven three-fingered gripper with articulated joints. The actuator can be mounted in the palm or below in the wrist area for better weight distribution and dexterity.

Design Highlights

  • Actuation: Tendon-driven system
  • Finger Configuration: 3 fingers with 2 joints each

Gallery

Close-up Views

Low angle view

Low angle view showing finger articulation

Low side view

Side profile with tendon routing

Top view with cube

Top view with cube

Alternate side view with cube

Close-up of finger articulation

Detailed Views

Side view with cube

Side view with cube

Top view

Top view showing finger arrangement

Development View

Basic hand development view

Basic hand development view

Tendon System

The tendon-driven system allows for flexible actuator placement. The tendons can be routed through the wrist or palm, enabling different mounting configurations based on your specific application requirements.

Key benefits of the tendon-driven approach:

  • Reduced weight at the end effector
  • Simplified finger joint design