Dynamic Modeling and Simulation of Partial Finger Based on Virtual Force Spring Method

A dynamic model of the Partial Finger based on virtual force spring method is established to master the motion and dynamics characteristics of the partial finger,to judge the effect of structure parameters on its performance,and to accurately evaluate its real operation state.The numerical solution of the dynamic model is done by the application of Matlab software.The same result is obtained compared the numerical solution with the Adams software simulation dada in the same grasp condition of the Partial Finger when the elasticity coefficient of the virtual force spring value is 104N/mm,which proves the validity of dynamic model and provides the basis for the further research of the Partial Finger.