Design of the drive mechanism for an anthropomorphic robotic finger
DOI:
https://doi.org/10.17533/udea.redin.14609Keywords:
four-bar mechanism, Freudenstein's equation, robotics fingersAbstract
Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an “anthropomorphic finger” is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfi ll the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.
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