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

作     者：Francesco PENTA Cesare ROSSI Sergio SAVINO 

作者机构：Department of Industrial Engineering University of Naples 'FedericoII' Naples 80125 Italy 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2016年第11卷第2期

页      面：184-194页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：tendon-driven fingers mechanical fingerdesign under-actuated mechanical systems 

摘      要：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 experi- mentation 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.