Mechanisms can be used in finger design to obtain suitable actuation systems and to give stiff robust behavior in grasping.The design of driving mechanisms for fingers has been carried out at LARM in Cassino with the aim to obtain onedegree of freedom actuation for an anthropomorphic finger. The dimensional design of a finger driving mechanism hasbeen formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristicsthat are associated with finger motion, grasping equilibrium, and force transmission. The feasibility of the herein proposedoptimum design procedure for a finger driving mechanism has been tested by numerical examples that have been also usedto enhance a built prototype of a three-fingered hand.

Optimal Design of Driving Mechanism in a 1-d.o.f. Anthropomorphic Finger

CARBONE G.
2006

Abstract

Mechanisms can be used in finger design to obtain suitable actuation systems and to give stiff robust behavior in grasping.The design of driving mechanisms for fingers has been carried out at LARM in Cassino with the aim to obtain onedegree of freedom actuation for an anthropomorphic finger. The dimensional design of a finger driving mechanism hasbeen formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristicsthat are associated with finger motion, grasping equilibrium, and force transmission. The feasibility of the herein proposedoptimum design procedure for a finger driving mechanism has been tested by numerical examples that have been also usedto enhance a built prototype of a three-fingered hand.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11770/301607
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