Abstract
This work presents the dimensional synthesis for a mechanical finger, based in four bar mechanisms, where the anthropometric, and kinematic constrictions of the human finger are satisfied; the basic criteria used for the dimensional synthesis is the maximum rotation angle for each phalanx, so a human like motion may be achieved. The syntheses of each finger is obtained via Freudenstein's methodology, assuming that the links lengths are constant, an fixed to a main link, and the pivot of the system is the knuckle. The only variable which may modify the displacement behavior of the system is the coupler, for each four-bar mechanism, therefore its length is directly related to the position of the finger.
Original language | English |
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Pages | 353-357 |
Number of pages | 5 |
DOIs | |
State | Published - 2013 |
Externally published | Yes |
Event | 2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2013 - Mexico City, Mexico Duration: 30 Sep 2013 → 4 Oct 2013 |
Conference
Conference | 2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2013 |
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Country/Territory | Mexico |
City | Mexico City |
Period | 30/09/13 → 4/10/13 |
Keywords
- Freudenstein Method
- four bar mechanism
- kinematics
- under actuated finger