Design and simulation of an underactuated finger mechanism for LARM Hand

An underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated so...

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Bibliographic Details
Published in:Robotica 2017-03, Vol.35 (3), p.483-497
Main Authors: Ceccarelli, M., Zottola, M.
Format: Article
Language:English
Subjects:
Design improvements
Feasibility
Fingers
Hand (anatomy)
Simulation
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Summary:An underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated solution for a new LARM finger is characterized through simulation results in ADAMS environment for operation feasibility and performance.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574715000648