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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Demers, Louis-Alexis Allen Gosselin, Cle´ment |
| Copyright Year | 2010 |
| Abstract | This paper presents the kinematic design of a thumb metacarpal for a cable-driven anthropomorphic robotic hand. The general problem of finding the position and orientation of an axis around which a given vector is rotated from a position to another is first assessed. A particular case of this problem follows, in which the final direction of the vector has to be in opposition to the initial one, as for the adduction-opposition movement of the thumb. The configuration of the transmission system for the flexor tendon of the thumb is then established. This allows the calculation of the position and orientation of the deflecting pulley in the metacarpal, followed by the evaluation of the trajectory of the pulley system. Finally, a prototype of the thumb metacarpal is presented. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 115 |
| Ending Page | 123 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791844106 |
| DOI | 10.1115/DETC2010-28710 |
| e-ISBN | 9780791838815 |
| Volume Number | Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2010-08-15 |
| Publisher Place | Montreal, Quebec, Canada |
| Access Restriction | Subscribed |
| Subject Keyword | Design Pulleys Kinematics Trajectories (physics) End effectors Engineering prototypes Cables Tendons |
| Content Type | Text |
| Resource Type | Article |
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