Multibody Model of Under-Actuated Tendon Driven Finger to Study the Antagonist Tendon

摘要

In this paper is presented a study on the antagonist tendon of an underactuated finger that is actuated by means of a traction tendon. The study is carried out developing a multibody model in which are applied the force that the tendons exert. The study and the model are part of a research activity to develop a mechanical hand with prosthetic purposes. The different types of antagonists tendons, that achieve different dynamic behaviours of the finger, are shown and described in the paper.