Abstract
In this paper, design problems and requirements for underactuated mechanisms are discussed as related to robotic fingers. Performance characteristics and optimality criteria are analyzed with the aim to formulate a general design algorithm as based on a suitable multi-objective optimization problem. An example of underactuated finger is illustrated as applied to an improvement of LARM Hand with the aim to show the practical feasibility of the proposed concepts and computations. © Springer Science+Business Media B.V. 2009.
Author supplied keywords
Cite
CITATION STYLE
Yao, S., Ceccarelli, M., Carbone, G., & Lu, Z. (2009). An optimal design for a new underactuated finger mechanism. In Proceedings of EUCOMES 2008 - The 2nd European Conference on Mechanism Science (pp. 149–157). https://doi.org/10.1007/978-1-4020-8915-2_19
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
