Abstract

Abstract A novel kinematic structure of a tendon-driven mechanism is proposed for an anthropomorphic finger mechanism of artificial hands. The kinematic structure is composed by three links as the three phalanges of a human finger and they are moved independently by means of suitable endless tendons. The three d.o.f.s of the proposed open-loop kinematic chain have been appropriately reduced to only one in order to simplify the actuation and control of the finger mechanism. A motion analysis has been carried out by using the polode method to obtain a suitable algorithm for computer simulation. The grasp performances of the proposed new anthropomorphic finger mechanism have been investigated and some design considerations have been pointed out.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.