Dynamic behaviour of an underactuated finger

The paper presents a theoretical study about the dynamic behaviour of an underactuated finger. By modelling the equation of dynamics, two kinds of fingers were studied: the first with equal phalanges, and the second with three different phalanges whose parameters are similar to those of a human finger. The results obtained for this last type of configuration are presented in the paper. The studies reported in the paper have been realized to study the dynamic behaviour of the under actuated finger; the main scope was to investigate the geometrical parameters which allow obtaining a more suitable closing sequence of the phalanges in order to better grasp objects