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.
| Original language | English |
|---|---|
| Pages (from-to) | 750011-750019 |
| Number of pages | 9 |
| Journal | Journal of Mechanical Design |
| Volume | 131 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Jul 2009 |
Keywords
- Gripper
- Mechanical network
- Parallelogram
- Spherical mechanism