An investigation on the influence of the design parameters of the tendon system on the behavior of an under-actuated finger is presented. The study was carried on by simulations with Working Model 2D™ and by an experimental apparatus. The results showed a good agreement between simulation results and experiments. A correct choice of the design of the tendon system parameters permits a correct working of an under-actuated mechanical finger driven by un-extendable tendons; hence this study can help in correctly designing the finger of under-actuated grasping devices. This both for industrial and agricultural grasping devices and for human hand prosthesis.
Influence of the tendon design on the behavior of an under-actuated finger / Niola, Vincenzo; Rossi, Cesare; Savino, Sergio. - 49:(2018), pp. 1033-1042. (Intervento presentato al convegno 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 tenutosi a ita nel 2017) [10.1007/978-3-319-61276-8_111].
Influence of the tendon design on the behavior of an under-actuated finger
Niola, Vincenzo
;Rossi, Cesare;Savino, Sergio
2018
Abstract
An investigation on the influence of the design parameters of the tendon system on the behavior of an under-actuated finger is presented. The study was carried on by simulations with Working Model 2D™ and by an experimental apparatus. The results showed a good agreement between simulation results and experiments. A correct choice of the design of the tendon system parameters permits a correct working of an under-actuated mechanical finger driven by un-extendable tendons; hence this study can help in correctly designing the finger of under-actuated grasping devices. This both for industrial and agricultural grasping devices and for human hand prosthesis.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
