Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap- through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experi- mentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

水平支座上独立式刚性块的摆动模型（英文）

目的:本研究集中探讨水平支座上独立放置简单叠合的双刚性块的动力学行为,旨在通过构建并求解合适的动力学数值模型以助于设计可广泛适用于博物馆、实验室和医院的保护小型艺术品或装置的隔振系统。创新点:1.研究对象为两个叠合在一起的刚性块,较以往同类问题中的单一刚性块,更具现实意义;2.同时研究了刚性块的摆动和滑动两类运动模式。方法:1.基于达朗贝尔原理构建摆动控制方程,分析单刚体情形下的摆动并利用数值手段描述其滑动状态;2.在分析单刚体的基础上构建双刚体控制方程组并对其进行数值求解。结论:1.通过研究大理石雕塑置于蹲式刚性基底上且基底独立放置在移动地面上的情形发现,相比于滑动,雕塑自身的摆动是造成其损坏的主要原因;2.在某些情况下,刚体表面延迟的存在可以避免细长刚性块的翻转,尤其是对于那些细长的摇摆块体以及上部块体质量增加的情形;3.本文提出的数值分析可以成为优化简易隔振系统的一个有效工具。