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From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms

Lionel Birglen

Article (2010)

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Cite this document: Birglen, L. (2010). From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms. Mechanical Sciences, 1(1), p. 5-12. doi:10.5194/ms-1-5-2010
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Abstract

In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably) oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing.

Open Access document in PolyPublie
Subjects: 2100 Génie mécanique > 2100 Génie mécanique
Department: Département de génie mécanique
Research Center: Non applicable
Funders: CRSNG/NSERC, Fonds Québécois de la Recherche sur la Nature et les Technologies (FQRNT)
Date Deposited: 10 Jan 2019 14:05
Last Modified: 11 Jan 2019 01:20
PolyPublie URL: https://publications.polymtl.ca/3401/
Document issued by the official publisher
Journal Title: Mechanical Sciences (vol. 1, no. 1)
Publisher: Copernicus Publications
Official URL: https://doi.org/10.5194/ms-1-5-2010

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