In this paper the numerical results for the characterization of a new design of an underactuated mechanism for a robotic hand are presented. The hand is composed by a palm and one finger. The finger is actuated by a four-bar mechanism and the palm is composed by two links which are actuated by a spring. The aim of the proposed mechanism is to improve the grasping performance of the LARM hand and avoid to increasing in the number of actuators. The numerical simulations have been carried out using the SolidWorks environment to evaluate the performance of the mechanism on grasping objects with different shapes, the obtained results show the optimal tracking of trajectories of this proposed solution. © Springer Nature Switzerland AG 2019.
A characterization of a robotic hand with movable palm
Carbone Giuseppe;
2019-01-01
Abstract
In this paper the numerical results for the characterization of a new design of an underactuated mechanism for a robotic hand are presented. The hand is composed by a palm and one finger. The finger is actuated by a four-bar mechanism and the palm is composed by two links which are actuated by a spring. The aim of the proposed mechanism is to improve the grasping performance of the LARM hand and avoid to increasing in the number of actuators. The numerical simulations have been carried out using the SolidWorks environment to evaluate the performance of the mechanism on grasping objects with different shapes, the obtained results show the optimal tracking of trajectories of this proposed solution. © Springer Nature Switzerland AG 2019.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
