NDLI: Design of tendon-driven robotic fingers: Modeling and control issues

Content Provider	IEEE Xplore Digital Library
Author	Borghesan, G. Palli, G. Melchiorri, C.
Copyright Year	2010
Description	Author affiliation: DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Università di Bologna, Viale Risorgimento 2, 40136, Italy (Borghesan, G.; Palli, G.; Melchiorri, C.)
Abstract	This paper reports the modeling activities related to the development of an innovative tendon-driven robotic finger, designed as the fundamental element of a new biologically-inspired artificial hand. The finger is realized in plastic material by means of 3D-printing, a production process that allows a remarkable simplification of the mechanical design. Through 3D-printing, we were able to easily implement solutions that could be very difficult, if not impossible, to obtain with conventional manufacturing. A detailed simulation model of the robotic finger has been developed with the aim not only of designing and testing suitable control strategies for the finger, but also of investigating the benefits and the flaws of particular design solutions. As a matter of fact, this approach to design and realization of robotic fingers, that fulfills the requirements in terms of compactness, integration and simplified assembly, has a significant drawback in frictional phenomena on both tendons and joints. For this reason, an adapted LuGre friction model is proposed in order to simulate and study the finger behavior.
Starting Page	793
Ending Page	798
File Size	921476
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509899
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Fingers Biological system modeling Robotic assembly Plastics Biological materials Production Manufacturing Testing Tendons Nonlinear Systems Robotic Hands Tendon Transmission Friction Modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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