A multibody model to analyze the gripping quality of an underactuated mechanical finger operated with tendon is described. To study the gripping ability of the finger has been developed a contact model that can simulate the interaction with the object to be taken. In the last section, some results related to the gripping of a spherical object, are described.
Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger / Rossi, Cesare; Savino, Sergio; Timpone, Francesco. - 540:(2017), pp. 198-207. (Intervento presentato al convegno 25th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD16) tenutosi a Belgrade, Serbia nel June 30th - July 2nd 2016) [10.1007/978-3-319-49058-8_22].
Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger
ROSSI, CESARE;SAVINO, Sergio;TIMPONE, FRANCESCO
2017
Abstract
A multibody model to analyze the gripping quality of an underactuated mechanical finger operated with tendon is described. To study the gripping ability of the finger has been developed a contact model that can simulate the interaction with the object to be taken. In the last section, some results related to the gripping of a spherical object, are described.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
