Analysis of Underactuated Mechanical Grippers

[+] Author and Article Information
Serge Montambault, Clément M. Gosselin

Département de Génie Mécanique Université Laval Québec (Québec), Canada, G1K 7P4e-mail: gosselin@gmc.ulaval.ca

J. Mech. Des 123(3), 367-374 (Jul 01, 1998) (8 pages) doi:10.1115/1.1374198 History: Received July 01, 1998
Copyright © 2001 by ASME
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Planar two-dof underactuated mechanism
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Planar four-dof gripper
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Examples of the two grasps studied; (a) power grasp; (b) pinch grasp
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Notation used for the analysis of the planar two-dof underactuated mechanism
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Schematic representation of the studied configurations; (a) power grasp; (b) pinch grasp
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Grasping forces as a function of the actuator torque
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Example of an unfeasible power grasp; (a) movement; (b) return to stability; (c) object ejection
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Actuator and spring torques as functions of the force on distal phalanx
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Force on the distal phalanx as a function of fm
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Torque at the passively actuated joint as a function of fm
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Free-body diagram of the distal phalanx




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