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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 2, issue 1
Mech. Sci., 2, 65-71, 2011
https://doi.org/10.5194/ms-2-65-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 2, 65-71, 2011
https://doi.org/10.5194/ms-2-65-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

  08 Feb 2011

08 Feb 2011

Static model for a 3-DOF underactuated finger

F. Guay and C. Gosselin F. Guay and C. Gosselin
  • Laboratoire de robotique, Département de génie mécanique, Université Laval, Québec, Canada

Abstract. This paper introduces a static model of a three-degree-of-freedom underactuated finger. The model includes all static forces, namely actuation forces, return forces and gravity. All geometric and static parameters can be freely changed (pulley radius, member's mass, etc.). Hence, the model allows complete static simulations to be performed and it can also be used for numerical optimization.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

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