Diseño Óptimo de un Dedo Tipo Antropomórfico

摘要

Mechanisms may be used in the robotic fingers' design to obtain drive systenis; which can be used for gripping or manipulating objects. In this work, a design methodology for an anthropomorphic inger. Drive mechanism is presented. The finger was previously developed using computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematica reiationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis; considering that the mechanism must fulfill the anthropometric characteristics of a ten numerical positions base human hand. Numerical simulation results and CAD modeling of the drive mechanism are presented.