Gripper Design With Spherical Parallelogram Mechanism
- 27 May 2009
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 131 (7), 075001
- https://doi.org/10.1115/1.3125891
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.Keywords
This publication has 23 references indexed in Scilit:
- Computer-Aided Modeling and Manufacturing of Spherical Mechanisms via a Novel Web ToolJournal of Computing and Information Science in Engineering, 2007
- Kinetostatic Analysis of Underactuated FingersIEEE Transactions on Robotics and Automation, 2004
- Gripper characteristics of deformed elastic circular rodsMechanism and Machine Theory, 2004
- Displacement Analysis of Spherical Mechanisms Having Three or Fewer LoopsJournal of Mechanical Design, 2004
- Bennett's linkage and the cylindroidMechanism and Machine Theory, 2002
- Dexterous mechanisms for robot locomotionMechanism and Machine Theory, 1998
- On Optimizing the Kinematic Geometry of a Dextrous Robot FingerThe International Journal of Robotics Research, 1998
- Efficient kinematics of a spherical 4R wrist by means of an equivalent 3R wristMechanism and Machine Theory, 1998
- The Mechanics and Positioning of Highly Flexible Manipulator LimbsJournal of Mechanical Design, 1989
- Direct Computation of Grasping Force for Three-Finger Tip-Prehension GraspsJournal of Mechanical Design, 1988