By means of an already proposed model of an under-actuated mechanical finger, some aspects of the dynamical behavior of the finger itself are presented. The under-actuated finger is a part of a self-adaptive mechanical hand and is moved by tendons. The main aim of the study consists in obtaining the closure sequence, that is to say the movements of the phalanxes before the contact with the object surface occurs. This seems to be an important aspect because only a correct closure sequence of the phalanxes can ensure a correct grasping.
Theoretical Investigation on an Under-actuated Finger Dynamics / Niola, Vincenzo; Rossi, Cesare; Savino, Sergio. - (2016), pp. 53-57. ( 7th International Conference on Circuits, Systems, Control, Signals (CSCS '16) Venice, Italy 29-31 January).
Theoretical Investigation on an Under-actuated Finger Dynamics
NIOLA, VINCENZO;ROSSI, CESARE;SAVINO, Sergio
2016
Abstract
By means of an already proposed model of an under-actuated mechanical finger, some aspects of the dynamical behavior of the finger itself are presented. The under-actuated finger is a part of a self-adaptive mechanical hand and is moved by tendons. The main aim of the study consists in obtaining the closure sequence, that is to say the movements of the phalanxes before the contact with the object surface occurs. This seems to be an important aspect because only a correct closure sequence of the phalanxes can ensure a correct grasping.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
