Result: Optimal design of driving mechanism in a 1-DOF anthropomorphic finger

Title:
Optimal design of driving mechanism in a 1-DOF anthropomorphic finger
Authors:
EDUARDO NAVA RODRIGUEZ, Nestor, CARBONE, Giuseppe, CECCARELLI, Marco
Source:
CK 2005: International Workshop on Computational Kinematics, Cassino, Italy, May 4-6, 2005Mechanism and machine theory. 41(8):897-911
Publisher Information:
New York, NY; Oxford: Elsevier, 2006.
Publication Year:
2006
Physical Description:
print, 28 ref
Original Material:
INIST-CNRS
Subject Terms:
Mechanical engineering, Génie mécanique, Sciences exactes et technologie, Exact sciences and technology, Physique, Physics, Domaines classiques de la physique (y compris les applications), Fundamental areas of phenomenology (including applications), Mécanique des solides, Solid mechanics, Dynamique des solides (balistique, collision, système n corps, stabilisation...), Solid dynamics (ballistics, collision, multibody system, stabilization...), Sciences appliquees, Applied sciences, Genie mecanique. Construction mecanique, Mechanical engineering. Machine design, Cinématique, Kinematics, Cinemática, Conception optimale, Optimal design, Concepción optimal, Doigt, Finger, Dedo, Dynamique solide, Solid dynamic, Dinàmico sólido, Equilibre, Equilibrium, Equilibrio, Etude expérimentale, Experimental study, Estudio experimental, Faisabilité, Feasibility, Practicabilidad, Main, Hand, Mano, Optimisation, Optimization, Optimización, Programmation multiobjectif, Multiobjective programming, Programación multiobjetivo, Préhension, Gripping, Prension, Synthèse mécanisme, Mechanism synthesis, Síntesis mecanismo
Document Type:
Conference Conference Paper
File Description:
text
Language:
English
Author Affiliations:
Laboratory of Robotics and Mechatronics, DiMSAT- University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
ISSN:
0094-114X
Access URL:
http://pascal-francis.inist.fr/vibad/index.php?action=search&terms=17868265
Rights:
Copyright 2006 INIST-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
Notes:
Mechanical engineering. Mechanical construction. Handling

Physics: solid mechanics
Accession Number:
edscal.17868265
Database:
PASCAL Archive

Further Information

Mechanisms can be used in finger design to obtain suitable actuation systems and to give stiff robust behavior in grasping. The design of driving mechanisms for fingers has been carried out at LARM in Cassino with the aim to obtain one degree of freedom actuation for an anthropomorphic finger. The dimensional design of a finger driving mechanism has been formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristics that are associated with finger motion, grasping equilibrium, and force transmission. The feasibility of the herein proposed optimum design procedure for a finger driving mechanism has been tested by numerical examples that have been also used to enhance a built prototype of a three-fingered hand.