Under-Actuated Finger Driven by Un-extendible Tendons Grasping Tests by WM 2D™

Some simulation results of the grasping of an under-actuated finger driven by un-extendible tendons are presented. The finger is one of the ones of a mechanical hand based on a self-adaptive mechanism that permits the use of un-extendible tendons. The simulations were carried on by means of a model made by WM 2D" multibody code and permitted to save time and number of prototypes in the prototyping of the mechanical hand. The results are also in good agreement with both theoretical and experimental investigations the authors had carried on.