A pseudo-isotropic three phalanxes under-actuated finger
| Autor: | Dandash, Ghassan, Rizk, Rani, Krut, Sébastien, Dombre, Etienne |
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| Přispěvatelé: | Krut, Sébastien, Lebanese University [Beirut] (LU), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM) |
| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: | |
| Zdroj: | IFToMM'2011: 13th World Congress in Mechanism and Machine Science IFToMM'2011: 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. pp.1-8 |
| Popis: | International audience; A good gripper can adapt itself on any grasped object and ensure contact pressure as homogenous as possible. A gripper that provides a uniform contact pressure is said to be isotropic. Another feature of a gripper is its dexterity, which can be improved by under-actuation. This paper presents the design of a three-phalanx pseudo-isotropic under-actuated finger with anthropomorphic dimensions. Contact forces depend on the gripper folding angles and the transmission torque ratio between unactuated joints. In order to ensure a grasping as isotropic as possible two cams were used. The isotropy is checked up by recalculation of the contact forces. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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