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Anthropomorphic finger for grasping applications: 3D printed endoskeleton in a soft skin

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Abstract

Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D printed rigid endoskeleton covered by a soft matter. The overall integrated system resembles a biological structure in which a finger presents an anthropomorphic look. The mechanical properties of such structure are enhanced through optimization of the repetitive geometrical structures that constructs a flexure bearing as a joint for the fingers. The endoskeleton is formed by additive manufacturing of such geometries with rigid materials. The geometry of the endoskeleton was studied by finite element analysis (FEA) to obtain the desired properties: high stiffness against lateral deflection and twisting, and low stiffness in the desired bending axis of the fingers. Results are validated by experimental analysis.

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Authors and Affiliations

  1. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Mahmoud Tavakoli, Andriy Sayuk & João Lourenço

  2. Department of Mechanical Engineering, University of Coimbra, Coimbra, Portugal

    Pedro Neto

Authors
  1. Mahmoud Tavakoli
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  2. Andriy Sayuk
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  3. João Lourenço
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  4. Pedro Neto
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Correspondence to Mahmoud Tavakoli.

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Tavakoli, M., Sayuk, A., Lourenço, J. et al. Anthropomorphic finger for grasping applications: 3D printed endoskeleton in a soft skin. Int J Adv Manuf Technol 91, 2607–2620 (2017). https://doi.org/10.1007/s00170-016-9971-8

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  • DOI: https://doi.org/10.1007/s00170-016-9971-8

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