General Mechanical

General Mechanical

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Tendon wire for robotic finger

    • QUSAI HAMID
      Subscriber

      Hi everyone
      I want to simulate finger movement by using a tendon, and when I pull the tendon, it will make the finger bend. I tried to make the joint frictionless and the contact between the tendon and body frictional, but there was no movement. I used Ansys 2022R1.
      I tried to define the joint and contact between the tendon and finger to move the finger, as shown in the photo below: I used a beam line for the wire. All the pins are frictional, with a 0.07 coefficient of friction. I use static analysis with large deflection (on). Maybe the properties of the material are wrong. Why does the wire go out of the hole (the guide)? Why does the wire not bend and make the finger rotate? I tried with a rigid body but got no results.

      I appreciate and thank you all for the help.

       

    • Akshay Maniyar
      Ansys Employee

      Hi,

      Can you share the details about the translational joint you created? Also, what is the mesh size for the wire? How many elements are created for wire? 

      Thanks,

      Akshay Maniyar

      • QUSAI HAMID
        Subscriber

        Hi Akshay Maniyar, thanks for your reply.

        The element size for joints are 0.4mm and  the edage sizing(wire) and face sizing (hole area contact with wire) are 0.02 mm.

    • Akshay Maniyar
      Ansys Employee

      Hi Qusai,

      I apologize for the wait. Could you try applying displacement to the wire's end while suppressing the joint? Given that the wire is only free in the X direction due to the translational joint, it is possible that the joint is preventing the wire from bending.

      Thanks,

      Akshay Maniyar

      • QUSAI HAMID
        Subscriber

        Hi... thanks for your reply

        I changed the material for wire like E=0.5 GPa. to be more elastic, then I tried applying displacement to the wire's end and suppressing the joint (or removing it), but there is still wire going out of the guide. and the bending of finger in opposite side!!

        With best regards.

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