In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The formulation is based on a study of the design and operation of an index human finger. In particular, we have proposed a suitable mechanical design for an anthropomorphic finger as both an approximation of human architecture and an easy practical design. Kinematic characteristics are illustrated with numerical examples.
A novel articulated mechanism mimicking the motion of index fingers
FIGLIOLINI, Giorgio;
2002-01-01
Abstract
In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The formulation is based on a study of the design and operation of an index human finger. In particular, we have proposed a suitable mechanical design for an anthropomorphic finger as both an approximation of human architecture and an easy practical design. Kinematic characteristics are illustrated with numerical examples.File in questo prodotto:
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