An Underactuated Multi-finger Grasping Device. (17th February 2014)

• Record Type: Journal Article
• Authors: Rossi, Cesare; Savino, Sergio
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 2(2014)
• Publication Date: 2014-02-17
• Subjects: Mechanical Finger -- Robotic Hand -- Gripper; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/57419
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, a mechanical model for an underactuated multi-finger grasping device is presented. The device has single-tendon, three-phalanx fingers, all moved by only one actuator. By means of the model, both the kinematic and dynamical behaviour of the finger itself can be studied. The finger is part of a more complex mechanical system that consists of a four-finger grasping device for robots or a five-finger human hand prosthesis. Some results of both the kinematic and dynamical behaviour are also presented.