RESEARCH PAPERS: Mechanisms Papers

A Three-Fingered Pantograph Manipulator—A Kinematic Study

[+] Author and Article Information
K. H. Hunt

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

L. E. Torfason

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

J. Mech., Trans., and Automation 109(2), 171-177 (Jun 01, 1987) (7 pages) doi:10.1115/1.3267432 History: Received July 01, 1986; Online November 19, 2009


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.

Copyright © 1987 by ASME
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