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A study of a robotic hand with tendon driven fingers

Published online by Cambridge University Press:  15 May 2014

Cesare Rossi,
Sergio Savino,
Vincenzo Niola and
Stefano Troncone
Cesare Rossi*
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Sergio Savino
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Vincenzo Niola
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Stefano Troncone
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
*
*Corresponding author. E-mail: cesare.rossi@unina.it
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Summary

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In the present paper, a model of an underactuated robotic hand with tendon driven fingers is proposed. The aim of the project was to study the feasibility of building a mechanical hand with four or five fingers, the movement of which is achieved using a single linear actuator. The mechanism was first modelled in order to study the possible improvement in the ability of a “robotic hand” powered with a single actuator in regard to grasping objects with complex shapes and also in achieving a strong grip on objects. Next, a model of the finger was studied in order to optimize of its parameters. Finally, a five-fingered robotic hand was modelled for potential application as a human hand prosthesis. Our studies on the dynamic and kinematic behaviour of a single finger mechanism permitted us to make the first prototypes of the mechanism. In addition to modelling studies, we also present a prototype of the modelled robotic hand that was developed in order to optimize functionality and simplicity of construction.

Keywords

Robotic gripperTendon driven gripperRobotic handHuman prosthesisUnderactuated mechanism

Information

Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015, pp. 1034 - 1048
Copyright
Copyright © Cambridge University Press 2014 

References

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