El-Sheikh Mogeeb A
Production and Mechanical Design Department, Port Said University, Port Said - Egypt.
Int J Artif Organs. 2016 Nov 11;39(9):491-496. doi: 10.5301/ijao.5000523. Epub 2016 Oct 18.
This work presents the mechanical design of 4 configurations of compliant fingers in order to address the need for commercially feasible prosthetic and robotic hands.
The fingers consist of a single part and utilize a compliant mechanism to reduce the cost and control complexity. The geometric parameters of the compliant finger designs follow the Fibonacci series. The first and second compliant fingers have 2 joints and 2 degrees of freedom. The others have 3 joints and 3 degrees of freedom. The type of flexure hinges of the compliant finger are single and multiple nonsymmetrical circular hinges.
The finite element method (FEM) was used to verify the range of motion of the joints in the compliant finger. In addition, the study defines the finger tip trajectory of these configurations. The multiple flexure hinges have minimum stress.
This study presents affordable, single-element, compliant finger designs and their presumable hypothetical design variables are defined by the Fibonacci series. This method is faster and simpler than optimization. The study identifies the application of each finger design for either prosthetic or robotic purposes.
这项工作展示了4种柔顺手指构型的机械设计，以满足商业上可行的假肢和机器人手的需求。
手指由单个部件组成，并利用柔顺机构来降低成本和控制复杂性。柔顺手指设计的几何参数遵循斐波那契数列。第一个和第二个柔顺手指有2个关节和2个自由度。其他的有3个关节和3个自由度。柔顺手指的挠曲铰链类型为单非对称圆形铰链和多非对称圆形铰链。
使用有限元方法（FEM）来验证柔顺手指中关节的运动范围。此外，该研究定义了这些构型的指尖轨迹。多挠曲铰链的应力最小。
本研究提出了经济实惠的单部件柔顺手指设计，其假定的假设设计变量由斐波那契数列定义。这种方法比优化更快、更简单。该研究确定了每种手指设计在假肢或机器人方面的应用。
