2011, Volume 6, Issue 3
Frontiers of Mechanical Engineering >> 2011, Volume 6, Issue 3 doi: 10.1007/s11465-011-0229-8
Analysis and optimal design of an underactuated finger mechanism for LARM hand
1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
2. Laboratory of Robotics and Mechatronics, University of Cassino, Cassino (Fr), Italy
3. Robotics Institute, Beihang University, Beijing 100191, China
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Abstract
This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.
Keywords
robotic finger ; underactuated mechanisms ; design considerations
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