Recent content by ElectricVocaloid

the original problem has a part a) and a part b) Part a) is with the finger extended, that is, the angle between phalanges is β = 0° And in item b) you have to calculate the force but considering a β ≠ 0° for example an angle between phalanges of β = 50° The problem is that I was still able to...

I agree that the number of phalanges increases the load that the servomotor must support. In this case, the force that the yolk would exert if it were in contact with a surface is requested. This force should be related to the torque of the motor. I am really lost in the formulation of those...

there you are right, the only thing I don't know is if the weight provided by the phalanges makes the system have more effort. How do you suggest setting up the equations?

the beta angle is the inclination of each phalanx, this formula is used for any inclination they have as long as they are all equal, in this way I obtain the distance to the fingertip, although I do not know if it is really a useful data...

taking into account that the first phalanx is attached to a static point that prevents it from falling (that is, the hand)... does the fact that there are more phalanges not imply that there is more weight that the chains must support when stretching or contracting? all the phalanges in this...

FINGER PAD CENTER (3 phalanges) = (dx, dy) = ( ( 2b + lf ) . sen(β) + ( 2b + lf ) . sen(2β) + ( b + lf/2 ) . sen(3β) + a . sen(3β - 90°) ; ( b + ( 2b + lf ) . cos(β) + ( 2b + lf ) . cos(2β) - (b - l/2 ) . cos(3β) + a . cos(3β - 90°) )Here I have obtained the parameterized equation of the...

I've tried but I really can't find a way to fix it.I'm pretty lost with this problem. And assuming that the torque of the servomotor is the same in all the joints, it seems to me that it is not correct because the number of phalanges on which it must act is an important factor to consider if I...

I have simplified the problem to this study of forces. A servomotor is attached to a cylinder that twists the thread on one side and releases it on the other. This thread passes through some rings that are located in each of the ends of the phalanges and then they are tied in the last ring...

This design used in the problem emulates the fingers of the human being but this model is more used in robotics, the objective is to place a pressure gauge on the fingertips and check if the reaction force is greater or less than the Faplic. That is why Faplic is the unknown of this problem. P...

The cylinder on which the chain is wound or released is connected from its center of rotation to a servomotor which, according to the data, performs a torque M = 1.6 kgf. cm Since this system models a contracting finger linked to a hand, it can be seen that the first of the phalanges is linked...

I have raised this study of forces for this system although I am not sure that it is right...

You better suggest using the flexed finger diagram or the extended finger diagram together in the instant before starting to flex ?

Here I have clarified the normal forces (Fn) of each of the rings through which the binding chain passes.

They are assumed without friction. And the connecting chain is considered ideal because for the range of forces in which an average human finger would operate, therefore this chain that would represent the tensor muscle would not present deformations.

I think that there I have identified all the forces that act on each of the bodies that make up the system, is the diagram well done?