A Three-Fingered Pantograph Manipulator—A Kinematic Study-Reference-Cited by-同舟云学术

A Three-Fingered Pantograph Manipulator—A Kinematic Study

Published:1987-06-01 Issue:2 Volume:109 Page:171-177
ISSN:0738-0666
Container-title:Journal of Mechanisms, Transmissions, and Automation in Design
language:en
Short-container-title:

Author:

Hunt K. H.¹,Torfason L. E.²

Affiliation:

1. Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168, Australia

2. Department of Mechanical Engineering, The University of New Brunswick, Fredericton, New Brunswick E3B 5A3, Canada

Abstract

General kinematic principles are set down for an algorithmically-simple three-fingered robot-attachment intended to grasp and manipulate objects. After proposing a design for a finger-tip that determines precisely a grasping-point, the geometry of a swivelling pantograph-arrangement is pursued in some detail. Forward and inverse relations are developed, and a means for maintaining grasp during manipulation is outlined. Force-sensing and driving-means are touched upon. Certain alternative schematic designs are presented and compared.

Publisher

ASME International

Subject

General Engineering

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/109/2/171/5560795/171_1.pdf

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