Characterization of finger joints with underactuated modular structure

Characterization of finger joints with underactuated modular structure

Gabriele Maria Achilli, Silvia Logozzo, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti, Maria Cristina Valigi

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Abstract. The characterization of flexible joints of robotic underactuated fingers allows the investigation of the finger flexion trajectories using a tendon-driven actuation. In this paper, the characterization of TPU 3D printed joints used in underactuated robotic fingers, is experimentally and numerically performed. Since the mechanical properties of 3D printed materials are uncertain, this research helps to define the characteristics of robotic fingers in terms of stiffness. The role of the stiffness for the control of fingers’ trajectories is fundamental and the obtained results are very useful for improving the method to track a certain predefined trajectory. Experimental and theoretical results evaluate the stiffness as a function of the infill density percentage of the material.

Keywords
Underactuated Finger, Joint Stiffness, Modular Gripper, Soft Robotics

Published online 3/17/2022, 6 pages
Copyright © 2023 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA

Citation: Gabriele Maria Achilli, Silvia Logozzo, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti, Maria Cristina Valigi, Characterization of finger joints with underactuated modular structure, Materials Research Proceedings, Vol. 26, pp 201-206, 2023

DOI: https://doi.org/10.21741/9781644902431-33

The article was published as article 33 of the book Theoretical and Applied Mechanics

Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.

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