Dynamic Simulation and Optimization of Underactuated Robotic Fingers

Abstract

This paper describes the dynamic simulation and optimization of underactuated robotic fingers. Previous studies conducted on this subject have neglected inertial and frictional effects, resulting in less realistic simulation results. In this paper, the application of ADAMS, a mechanical system simulation software, in modeling the dynamic behaviour of underactuated mechanical fingers is described. The study also demonstrates that ADAMS can be used to optimize the design of a given gripper finger by varying a single design parameter.