Abstract
Multibody models are widely employed to predict the behavior of underactuated components. However, the comparison with experimental data is highly desirable to validate the simulation results. In this context, vision techniques represent a valuable tool to prove theoretical data. Vision techniques can be adopted to monitor underactuated components without affect their dynamics. In this study, a multibody model validation is presented combining simulations and vision data. The system is constituted by an underactuated finger that belongs to an anthropomorphic mechanical hand.
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Acknowledgments
The authors thank Marco Vassallo to contribute to this work during the master’s degree thesis.
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Cosenza, C., Niola, V., Savino, S. (2019). Underactuated Finger Behavior Correlation Between Vision System Based Experimental Tests and Multibody Simulations. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_7
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DOI: https://doi.org/10.1007/978-3-030-00365-4_7
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