Finite Element Based Analysis of a Linkage Driven Underactuated Robotic Finger Using Hybrid Materials

This study presents the design and finite element analysis (FEA) of a linkage-driven underactuated robotic finger developed for adaptive grasping applications. The proposed mechanism employs a three-phalange linkage system that enables passive adaptation to objects with varying geometries while enhancing force transmission and structural stability. A comparative material analysis is conducted using Carbon Fibre Reinforced Polymer (CFRP) with a modulus of elasticity of 395 GPa and Stainless Steel to evaluate stress distribution, deformation, and overall mechanical performance. Finite element simulations indicate that the CFRP-based robotic finger exhibits lower deformation, higher stiffness, and an improved strength-to-weight ratio compared to Stainless Steel, whereas Stainless Steel provides greater toughness and resistance under higher loading conditions. The linkage-driven configuration also demonstrates reduced stress concentration and improved load-bearing capability compared to conventional tendon-driven underactuated fingers. The proposed design offers enhanced durability, lightweight characteristics, and efficient adaptive grasping performance, making it suitable for industrial automation, prosthetic systems, and assistive robotic applications.