Abstract
For verifying the design rationality and properties of a Linkage Underactuated Finger, we use Solidworks to simulate the grasp operation of the finger with different situations, which can be used to analyze the range of grasping, the underactuated characteristic, the uniformity of motion and the mechanical property of the finger. The finger mechanism contains springs that gives adaptive grasp capability for different objects. The results show the curve of angle, moment and contact force. We can get the results that the finger can grasp the cylinders whose diameter can vary from 0.106 to 0.851 respecting to the finger length and can produce 5 times of hand grasping force by small electromotor. Through the simulations, the effectiveness and performance of the finger is analyzed and verified.
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Acknowledgements
This work was funded by the National Nature Science Foundation of China projects No. 51375504 and 61602539.
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Wu, L., Lan, T., Li, X. (2018). The Simulation of a Linkage Underactuated Finger on Grasping Performance. In: Deng, Z. (eds) Proceedings of 2017 Chinese Intelligent Automation Conference. CIAC 2017. Lecture Notes in Electrical Engineering, vol 458. Springer, Singapore. https://doi.org/10.1007/978-981-10-6445-6_11
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DOI: https://doi.org/10.1007/978-981-10-6445-6_11
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