  This paper shows a detailed modeling of three-link robotic finger that is
actuated by nylon artificial muscles and a simulink model that can be used for
numerical study of a robotic finger. The robotic hand prototype was recently
demonstrated in recent publication Wu, L., Jung de Andrade, M., Saharan,
L.,Rome, R., Baughman, R., and Tadesse, Y., 2017, Compact and Low-cost Humanoid
Hand Powered by Nylon Artificial Muscles, Bioinspiration & Biomimetics, 12 (2).
The robotic hand is a 3D printed, lightweight and compact hand actuated by
silver-coated nylon muscles, often called Twisted and coiled Polymer (TCP)
muscles. TCP muscles are thermal actuators that contract when they are heated
and they are getting attention for application in robotics. The purpose of this
paper is to demonstrate the modeling equations that were derived based on Euler
Lagrangian approach that is suitable for implementation in simulink model.
