МОДЕЛИРОВАНИЕ АНТРОПОМОРФНОГО ЗАХВАТНОГО УСТРОЙСТВА FEDERICA HAND

M. Yu. Karelina; P. O. Potapov; E. G. Krylov; L. N. Pirozhkova

Authors

M. Y. Karelina Moscow State Automobile and Road Technical University
P. O. Potapov Moscow State Automobile and Road Technical University
E. G. Krylov Kalashnikov ISTU
L. N. Pirozhkova Kalashnikov ISTU

Keywords:

Federica hand, anthropomorphic grasping device, Federica Hand, simulation, finger, phalanx, tendon

Abstract

The paper discusses the aspects of simulation of anthropomorphic grasping device Federica Hand. The research is aimed towards the model that enables introducing constructive improvements in order to achieve the desired grasping action. The Mathlab Simulink model is also used for on-line recording the grasp motion and its characteristics.

Author Biographies

M. Y. Karelina, Moscow State Automobile and Road Technical University

DSc in Education, Professor

P. O. Potapov, Moscow State Automobile and Road Technical University

Master’s degree student

E. G. Krylov, Kalashnikov ISTU

PhD in Engineering, Associate Professor

L. N. Pirozhkova, Kalashnikov ISTU

Associate Professor

References

Rossi C., Savino S. An Underactuated Multi-finger Grasping Device // International Journal of Advanced Robotic Systems. ISSN 1729-8806, Published: February 17, 2014.

Rossi C., Savino S. Mechanical model of a single tendon finger // 11-th International Conference of Numerical Analysis and Applied Mathematics 2013, AIP Conf/ Proc. 1558, 1286-1292 (2013); doi: 10.1063/1.4825746.

Niola V., Rossi C., Savino S., Potapov P. Dynamic Behaviour of an Underactuated Finger // The 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015, May 27-29.