Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

doi:10.1007/s11465-016-0385-y

Frontiers of Mechanical Engineering

2016, Vol. 11

Issue (2): 184-194 https://doi.org/10.1007/s11465-016-0385-y

本期目录

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI(

),Sergio SAVINO

Department of Industrial Engineering, University of Naples “Federico II”, Naples 80125, Italy

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Abstract：

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

Key words： tendon-driven fingers mechanical finger design under-actuated mechanical systems

收稿日期: 2015-12-18 出版日期: 2016-06-29

Corresponding Author(s): Cesare ROSSI

引用本文:

. [J]. Frontiers of Mechanical Engineering, 2016, 11(2): 184-194.
Francesco PENTA,Cesare ROSSI,Sergio SAVINO. Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger. Front. Mech. Eng., 2016, 11(2): 184-194.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-016-0385-y
https://academic.hep.com.cn/fme/CN/Y2016/V11/I2/184

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