RESEARCH ARTICLE

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

  • Francesco PENTA ,
  • Cesare ROSSI ,
  • Sergio SAVINO
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  • Department of Industrial Engineering, University of Naples “Federico II”, Naples 80125, Italy

Received date: 18 Dec 2015

Accepted date: 09 Mar 2016

Published date: 29 Jun 2016

Copyright

2016 Higher Education Press and Springer-Verlag Berlin Heidelberg

Abstract

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

Cite this article

Francesco PENTA , Cesare ROSSI , Sergio SAVINO . Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger[J]. Frontiers of Mechanical Engineering, 2016 , 11(2) : 184 -194 . DOI: 10.1007/s11465-016-0385-y

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