This paper investigates the possibility of converting grasped objects from precision grasps to power grasps using a variable transmission ratio for an underactuated finger. To this effect, a variable radius pulley was designed. A simulation study is presented to analyse grasping behaviour and a potential energy method is used to predict the equilibrium positions of finger and object. With this method stable and unstable equilibrium positions are determined. This is followed by an experiment to verify the theory. This paper is a first step in dextrous manipulation with large movements of objects using underactuated fingers.
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