%0 Journal Article
%T Dise£¿o del mecanismo actuador de un dedo robot antropom¨®rfico
%A Portilla Flores
%A Edgar
%A Pi£¿a Quintero
%A Roberto
%A Avil¨¦s S¨¢nchez
%A Oscar
%A Ni£¿o Su¨¢rez
%A Paola
%A Molina Vilchis
%A Mar¨ªa
%J Revista Facultad de Ingenier¨ªa Universidad de Antioquia
%D 2011
%I Scientific Electronic Library Online
%X mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. in this work, a design methodology for a drive mechanism of an "anthropomorphic finger" is presented. the finger was previously developed by computational tools (cad) at the umng-colombia. the proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous umng work). numerical simulation results and cad modeling for the drive mechanism are presented. finally, a discussion about results is included.
%K robotics fingers
%K four-bar mechanism
%K freudenstein's equation.
%U http://www.scielo.org.co/scielo.php?script=sci_abstract&pid=S0120-62302011000200016&lng=en&nrm=iso&tlng=en