Title: Mathematical modelling of a linkage-based robotic finger

Authors: Norsinnira Zainul Azlan; Hiroshi Yamaura

Addresses: Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Ookayama 2-12-1-I3-10, Meguro-ku, Tokyo 158-8552, Japan ' Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Ookayama 2-12-1-I3-10, Meguro-ku, Tokyo 158-8552, Japan

Abstract: This paper presents the mathematical dynamic model development of a linkage-based robotic finger with fingertip pinching and self-adaptive grasping functions during non-contact mode. The finger's structure is made of a seven-bar linkage mechanism with a slider in the middle phalanx to adjust its effective length in accomplishing these two tasks. This study extends the dynamic models of the closed loop mechanism and hybrid actuator to describe the dynamic behaviour of the finger due to its mechanical linkages. The model is later integrated with the actuator model to represent the whole robotic system. Simulation and experimental tests of the robotic finger under the Proportional Integral (PI) control algorithm have been conducted to evaluate the validity of the proposed model.

Keywords: robot fingers; linkage-based robotic fingers; mathematical modelling; dynamic modelling; PI control; robot control; fingertip pinching; self-adaptive grasping; robot grasping; simulation.

DOI: 10.1504/IJSCIP.2012.052185

International Journal of System Control and Information Processing, 2012 Vol.1 No.2, pp.131 - 147

Published online: 19 Feb 2013 *

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