Affiliation:
1. Faculty of Mechanical Engineering, Istanbul Technical University, 34437 Istanbul, Turkey
Abstract
A novel spherical gripper mechanism with one degree of freedom was designed. This gripper consists of a network of spherical parallelogram mechanisms. Design limits, work space formulas, and required grasping forces were derived. Parallelogram mechanisms with unequal circular and spiral linkages were also investigated. It was shown that the spherical parallelogram mechanisms with spiral linkages may be used for grasping objects.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Reference33 articles.
1. SMC Pneumatics (New Zealand) Ltd., http://www.smcworld.com/http://www.smcpneumatics.co.uk/ecats/MHF2.pdf
2. Gripper Finder, Techno-Sommer Automatic Company, http://www.techno-sommer.com/
3. Pneumatic Grippers, IMI Norgren Limited, http://www.norgren.com/
4. Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps;Ji;ASME J. Mech., Transm., Autom. Des.
5. On Optimizing the Kinematic Geometry of a Dextrous Robot Finger;Tischler;Int. J. Robot. Res.
Cited by
20 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献