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underactuated mechanisms

Robotica (1)

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Design and simulation of an underactuated finger mechanism for LARM Hand
M. Ceccarelli, M. Zottola
Journal:

Robotica / Volume 35 / Issue 3 / March 2017

Published online by Cambridge University Press:

21 July 2015, pp. 483-497
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An underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated solution for a new LARM finger is characterized through simulation results in ADAMS environment for operation feasibility and performance.