Modeling and verification of spring loaded robotic finger mechanism

Author

Raafat, Mina ; Haggag, S. ; Hossamel-din, Yehia

Author_Institution

Mechatron. Dept., HTI, 10th of Ramadan City, Egypt

fYear

2014

fDate

9-11 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

Researches on Dynamic Model of robotic finger mechanisms are widely carried out for variety of tasks such as grasping and manipulation of objects. In this paper, a dynamic Model of robotics spring loaded finger mechanism is proposed based on the biological equivalence of human hand. The Lagrangian method was used to derive the dynamics for the proposed Mathematical Model of robotic finger mechanisms. The model is implemented in MATLAB-SIMULINK. Practical experiment is done to verify the model. The experimental results show good agreement with the theoretical ones.

Keywords

digital simulation; manipulator dynamics; mathematics computing; springs (mechanical); Lagrangian method; MATLAB-SIMULINK; human hand biological equivalence; mathematical model; object grasping; object manipulation; robotic finger mechanism dynamic model; spring loaded robotic finger mechanism modeling; spring loaded robotic finger mechanism verification; Joints; Load modeling; Mathematical model; Robots; Springs; Thumb; Robotic hand; mathematical modeling; model verification; robotic finger;

fLanguage

English

Publisher

ieee

Conference_Titel

Research and Education in Mechatronics (REM), 2014 15th International Workshop on

Conference_Location

El Gouna

Type

conf

DOI

10.1109/REM.2014.6920235

Filename

6920235