MODELLAZIONE NUMERICA DI ARTICOLAZIONI CEDEVOLI PER DITA DI MANI ROBOTICHE

Abstract In the present work, the flexural stiffness of a close-wound cylindrical spring for a novel joint of robotic hands is developed by means of the finite element (FE) method. In the first step, the FE model of the spring has been generated and verificated to guarantee its numerical accuracy. Experimental measurements and theoretical results on close-wound springs in the same geometrical configurations here analysed were used as benchmark to compare predictions of the developed FE models. A good agreement was found in terms of stiffness (Nmm/rad) between numerical versus experimental and theoretical analysis at the same rotation (90\ub0) with a root mean square error respectively of 11% and 8%