Analysis and design of a modular underactuated mechanism for robotic fingers
- 29 September 2011
- journal article
- research article
- Published by SAGE Publications in Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Vol. 226 (1), 242-256
- https://doi.org/10.1177/0954406211412457
Abstract
This paper presents an analysis of the design problems and requirements for underactuated mechanisms for robotic fingers. The case of performing a grasping task is considered and a solution is proposed that consists of a series of linked underactuated mechanisms. Optimality criteria are analysed with the aim of formulating a general design algorithm based on a suitable optimization problem. An example of a four-phalanx modular finger is used to highlight the practical feasibility of the proposed modular design concepts and procedures.Keywords
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