An Underactuated Multi-finger Grasping Device:

International Journal of Advanced Robotic Systems

CesareRossi¹ 

关键词: Mechanical Finger;    Robotic H;    Gripper;   

DOI  :  10.5772/57419

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY