Reply To: Analysis of Robotic Finger

[peteroznewman]

Rohith,

I'm willing to advise you on the best path to success for your simulation. Sometimes a few paragraphs may be sufficient to get you turned around and pointed in a better direction than the one you were headed down.  Other times, a relevant example is required for you to fully understand the problem with your approach and the benefit of my approach. That is what I did in the example I just provided, which took me a couple of hours to create. Previously, I provided a link to the cable-driven-joint discussion which shows two wires threaded through two holes and the wire bending around the edges of those holes. This model also took a few hours to get working.

I'm not willing to build your model for you, which is very complex and would take me dozens of hours to build. I recommend you study what I provided, apply what you learn and try to move just one link in your finger, suppressing all the other parts. You might need two wires, or at least one wire and an opposing tension or torsion spring on the opposite side of the revolute joint. After you have some success with a single link, you can move on to a second link, however, that can be much more difficult if the design is poorly done such that tension in the wires for the second link creates a moment about the revolute axis of the first link.

Building up the skills to do these simple models is a necessary part of the learning curve and may take weeks to accomplish.

Best of luck!

Peter