Conference Agenda
Overview and details of the sessions of this conference. Please select a date or location to show only sessions at that day or location. Please select a single session for detailed view (with abstracts and downloads if available).
Please note that all times are shown in the time zone of the conference. The current conference time is: 24th Aug 2026, 05:32:28am America, Santiago
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Daily Overview |
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37C: Mechanical Virtual location: VIRTUAL: Agora Meetings | |
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5:40pm - 5:48pm
Underactuated Robotic Finger: Dynamic Modeling and Experimental Validation of Passive Adaptive Grasping 1: Universidad Tecnológica Centroamericana - UNITEC - (HN), Honduras; 2: Universidad Galileo Guatemala; 3: Universidad Don Bosco (ES), El Salvador This work presents the design and analysis of a tendon-driven underactuated robotic finger capable of adaptive grasping without individual joint control. The mechanism is actuated by a single input force while joint motion emerges from the interaction between stiffness distribution, inertia, and tendon transmission geometry. A dynamic model based on second-order rotational systems was developed to describe the behavior of each passive joint and predict the closing sequence. The finger was designed using CAD tools and fabricated through additive manufacturing using carbon fiber PLA and TPU materials. Experimental tests were performed to evaluate the closing behavior under constant actuation. Results show that the joints reach equilibrium at different settling times, producing a progressive grasping motion consistent with the dynamic model. The study demonstrates that adaptive grasping can be achieved through passive mechanical dynamics, reducing sensing and control requirements in robotic and prosthetic applications. | |