Robotica

Table of Contents - 2002 - Volume 20, Issue 01  

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A novel articulated mechanism mimicking the motion of index fingers

Giorgio  Figliolini a1 and Marco  Ceccarelli a2
a1 Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY) figliolini@unicas.it
a2 Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY) ceccarelli@unicas.it

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.

(Received April 25 2001)


Key Words: Robotics; Hands; Articulated fingers; Kinematic analysis; Design.