The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping. The analysis of two models is reported and the results of simulations are shown. The obtained results show a good efficiency of the designed finger.

Gripping analysis of an underactuated finger / Penta, Francesco; Rossi, Cesare; Savino, Sergio. - 371:(2016), pp. 71-78. (Intervento presentato al convegno 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)) [10.1007/978-3-319-21290-6_7].

Gripping analysis of an underactuated finger

PENTA, FRANCESCO;ROSSI, CESARE;SAVINO, Sergio
2016

Abstract

The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping. The analysis of two models is reported and the results of simulations are shown. The obtained results show a good efficiency of the designed finger.
2016
9783319212890
Gripping analysis of an underactuated finger / Penta, Francesco; Rossi, Cesare; Savino, Sergio. - 371:(2016), pp. 71-78. (Intervento presentato al convegno 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)) [10.1007/978-3-319-21290-6_7].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/639833
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