In the present paper a model of a tendon drive robotic gripper is proposed. The aim of the activity was to study the possibility of realization of a mechanical hand four fingers, the movement of which is realized by the use of a single linear actuator. The mechanism was studied and modelled in order to increase the capacity of a “robotic hand” for grasping objects of complex shape and to have a greater grip on them by means of one only actuator. In the last part of the paper is presented a proposal of a five finger hand, that could be also used as prosthesis of hand.
A Model of a Robotic Hand Based on a Tendon Driven Mechanism / Rossi, Cesare; Savino, Sergio; Niola, Vincenzo; Troncone, Stefano; Pasquale, Fiore; Giulio, Pisani. - (2013), pp. 296-302. (Intervento presentato al convegno RAAD 2013 22nd International Workshop tenutosi a Portoroz nel 11-13 Settembre 2013).
A Model of a Robotic Hand Based on a Tendon Driven Mechanism
ROSSI, CESARE;SAVINO, Sergio;NIOLA, VINCENZO;TRONCONE, STEFANO;
2013
Abstract
In the present paper a model of a tendon drive robotic gripper is proposed. The aim of the activity was to study the possibility of realization of a mechanical hand four fingers, the movement of which is realized by the use of a single linear actuator. The mechanism was studied and modelled in order to increase the capacity of a “robotic hand” for grasping objects of complex shape and to have a greater grip on them by means of one only actuator. In the last part of the paper is presented a proposal of a five finger hand, that could be also used as prosthesis of hand.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
