Static model for a 3-DOF underactuated finger

This paper introduces a static model of a three-degree-of-freedom underactuated finger. The model includes all static forces, namely actuation forces, return forces and gravity. All geometric and static parameters can be freely changed (pulley radius, member's mass, etc.). Hence, the model allows complete static simulations to be performed and it can also be used for numerical optimization. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.