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Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

A multibody model to analyse the gripping quality of an underactuated mechanical finger operated with tendon is described. To study the gripping ability of the finger a contact model that can simulate the interaction with the object to be taken has been developed. In the last section, some results related to the gripping of a spherical object, are described.

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Authors and Affiliations

  1. University of Naples “Federico II”, Via Claudio 21, 80125, Naples, Italy

    Cesare Rossi, Sergio Savino & Francesco Timpone

Authors
  1. Cesare Rossi
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  2. Sergio Savino
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  3. Francesco Timpone
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Corresponding author

Correspondence to Cesare Rossi .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Rossi, C., Savino, S., Timpone, F. (2017). Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_22

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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