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Design and simulation of an underactuated finger mechanism for LARM Hand

Published online by Cambridge University Press:  21 July 2015

M. Ceccarelli  and
M. Zottola
M. Ceccarelli*
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, Italy
M. Zottola
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, Italy
*
*Corresponding author. E-mail: ceccarelli@unicas.it
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Summary

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.

Keywords

mechanism designfinger designsimulationunderactuated mechanisms
Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 483 - 497
Copyright
Copyright © Cambridge University Press 2015 

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