Analysis and optimal design of an underactuated finger mechanism for LARM hand

Abstract

This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.

Keywords

robotic finger / underactuated mechanisms / design considerations

References

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Acknowledgement

Part of this work has been developed within the project No. 27 of the Italy-China program 2006-2009 and it has been supported by Key International S&T Cooperation Project (No. 2008DFA81280). A period of study of first author at LARM in Cassino during 2007-2008 has been supported by state scholarship program of China Scholarship Council (CSC) and Innovation Foundation of BUAA for Ph.D. Graduates.

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg