Study of an Underactuated Mechanical Finger Driven by Tendons | Zendy

Vincenzo Niola | Zendy; Cesare Rossi | Zendy; Sergio Savino | Zendy; Francesco Timpone | Zendy

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Study of an Underactuated Mechanical Finger Driven by Tendons

Author(s) -

Vincenzo Niola,

Cesare Rossi,

Sergio Savino,

Francesco Timpone

Publication year - 2017

Publication title -

international journal of automation technology

Language(s) - English

Resource type - Journals

eISSN - 1883-8022

pISSN - 1881-7629

DOI - 10.20965/ijat.2017.p0344

Subject(s) - underactuation , mechanism (biology) , closing (real estate) , tendon , computer science , engineering , mechanical engineering , simulation , artificial intelligence , physics , anatomy , robot , medicine , quantum mechanics , political science , law

This paper presents an investigation on the influence of the design parameters in an underactuated mechanical finger driven by un-extendable tendons. The study was carried out using simulations and experimental tests. The aim of the study is to analyze the behavior of the finger during its closing motion. Hence, this study can help in correctly designing fingers for underactuated grasping devices. Various design aspects and parameters were taken into account to optimize the dynamic behavior of the mechanism in the simulation. The actions of the tendons were modelled with the forces that the tendon exerts on the phalanges.

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