Abstract

PORTILLA FLORES, Edgar et al. Design of the drive mechanism for an anthropomorphic robotic finger. Rev.fac.ing.univ. Antioquia [online]. 2011, n.58, pp.153-162. ISSN 0120-6230.

Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an "anthropomorphic finger" is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.

Keywords : robotics fingers; four-bar mechanism; Freudenstein's equation.

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