LBSv2 Hand (movement analysis)

We described the linkage mechanism in an older post. This post will described how the linkages work in LBSv2 hand. Here a video demonstration:

Just like the Belgrade/USC hand described in a previous post, the LBSv2 uses two sets of 4-bar linkages to actuate the finger, L1 and L2 as shown below.

Linkage 1

Linkage 2

The entire finger is controlled by one actuator via a crank mechanism(see below). The crank mechanism effectively transforms a circular motion into a reciprocating motion (linear back and forward motion). The actuator would move in a circular motion about the z-axis. The motion would translate to a circular motion about the y-axis to manipulate L2 and L1.