A novel articulated mechanism mimicking the motion of index fingers

Authors:
Giorgio Figliolini;Marco Ceccarelli
Affiliations:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY) figliolini@unicas.it;Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY) ceccarelli@unicas.it
Venue:
Robotica
Year:
2002

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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.