Abstract

PORTILLA FLORES, Édgar Alfredo et al. KYNEMATIC ANALYSIS AND DESIGN OF A FOUR-BAR MECHANISM FOR PROXIMAL FINGER PHALANX OF ANTHROPOMORPHIC FINGER. Cienc. Ing. Neogranad. [online]. 2010, vol.20, n.1, pp.45-59. ISSN 0124-8170.

This paper shows the kinematic analysis and a parametric design methodology of the proximal phalanx for an anthropomorphic finger using a one degree-of-freedom. The mechanism design is done by taking ten positions from its output bar. A dynamic simulation is given using a CAD model to verify the feasibility of the mechanism results. Finally, we show the comparative analysis between kinematics numerically obtained and other experimental results.

Keywords : four-bar mechanism; anthropomorphic finger; parametric design.

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