0
TECHNICAL PAPERS

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
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Planar two-dof underactuated mechanism
Grahic Jump Location
Planar four-dof gripper
Grahic Jump Location
Examples of the two grasps studied; (a) power grasp; (b) pinch grasp
Grahic Jump Location
Notation used for the analysis of the planar two-dof underactuated mechanism
Grahic Jump Location
Schematic representation of the studied configurations; (a) power grasp; (b) pinch grasp
Grahic Jump Location
Grasping forces as a function of the actuator torque
Grahic Jump Location
Example of an unfeasible power grasp; (a) movement; (b) return to stability; (c) object ejection
Grahic Jump Location
Actuator and spring torques as functions of the force on distal phalanx
Grahic Jump Location
Force on the distal phalanx as a function of fm
Grahic Jump Location
Torque at the passively actuated joint as a function of fm
Grahic Jump Location
Free-body diagram of the distal phalanx

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In