FIRGELLI APPLICATION CALCULATOR
Robot Hand Actuator Calculator
Micro linear actuators can pull finger-control rods or tendons inside a humanoid hand. Size one actuator channel from the resistance and travel required at its rod.
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How the three-joint finger with remote feedback drives works
Three independent tendon channels drive one three-joint finger. Each tendon uses the entered constant joint moment radius; tendon travel follows that joint angle change. Joint effort includes distal phalange weights and fingertip load. This is not an assumed single-tendon coupling law. The feedback actuators may be mounted remotely in the forearm.
Measurements for this application
Measure phalange lengths, tendon moment radii and fingertip load. Enter the available actuator space in the palm or forearm.
- Record maximum retracted pin space, maximum working pin space, shoulder / proximal: link length, shoulder / proximal: link weight, shoulder / proximal: start joint angle. Measure between pivot or mounting-pin centers.
- Account for downward fingertip load, horizontal fingertip load, return spring torque per joint. Use the heaviest permitted operating condition.
- Enter the actual motion limits and check the mechanism at both ends and through the full path.
Choosing an actuator for three-joint finger with remote feedback drives
The calculator checks the required force, stroke and mounting length before displaying variants. Super Duty actuators take priority, followed by Utility and C-Series where their dimensions and ratings fit. Industrial actuators take priority above 450 lbf of moving load or required actuator force; feedback Micro Pen actuators take priority for the humanoid finger.
Compare exact variants, set travel limits for any unused stroke, and verify the controller, duty cycle, environment and mounting details. Save the design or download its engineering brief to keep your measurements and results together.
What does this calculator solve?
Three-joint finger with remote feedback drives is solved along the entered start-to-end path. The animation follows those measurements and the force plot shows the demand through the move. The stated model assumptions define which parts of the real mechanism are included.