An underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated solution for a new LARM finger is characterized through simulation results in ADAMS environment for operation feasibility and performance.
Ceccarelli, M., Zottola, M. (2015). Design and simulation of an underactuated finger mechanism for LARM Hand. ROBOTICA, 35(03), 1-15 [10.1017/S0263574715000648].
Design and simulation of an underactuated finger mechanism for LARM Hand
CECCARELLI, Marco;
2015-01-01
Abstract
An underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated solution for a new LARM finger is characterized through simulation results in ADAMS environment for operation feasibility and performance.File in questo prodotto:
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