Abstract
This work presents the dimensional synthesis for a mechanical finger, based in four bar mechanisms, where the anthropometric and kinematic constrictions of the human finger are satisfied; the basic criteria used for the dimensional synthesis is the maximum rotation angle for each phalanx, so a human like motion may be achieved. The synthesis of each finger is obtained via Freudenstein’s methodology, assuming that the links lengths are constant, and fixed to a main link, the pivot of the system is the knuckle. The only variable which may modify the displacement behavior of the system is the coupler links for each four-bar mechanism; therefore its length is directly related to the position of the finger, such a mechanism has to be able to withstand the average loads and impacts that may happen in a unstructured environment.
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© 2014 Springer International Publishing Switzerland
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Prudencio, A., Morales, E., García, M.A., Lozano, A. (2014). Anthropometric and Anthropomorphic Features Applied to a Mechanical Finger. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8917. Springer, Cham. https://doi.org/10.1007/978-3-319-13966-1_26
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DOI: https://doi.org/10.1007/978-3-319-13966-1_26
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13965-4
Online ISBN: 978-3-319-13966-1
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