The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping. The analysis of two models is reported and the results of simulations are shown. The obtained results show a good efficiency of the designed finger.
Gripping analysis of an underactuated finger / Penta, Francesco; Rossi, Cesare; Savino, Sergio. - 371:(2016), pp. 71-78. (Intervento presentato al convegno 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)) [10.1007/978-3-319-21290-6_7].
Gripping analysis of an underactuated finger
PENTA, FRANCESCO;ROSSI, CESARE;SAVINO, Sergio
2016
Abstract
The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping. The analysis of two models is reported and the results of simulations are shown. The obtained results show a good efficiency of the designed finger.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
