Abstract
A new reactionless spatial grasper is proposed and designed based on the principal vector linkage. In the literature, few dynamic balanced spatial grasp mechanisms can be found and here a new reactionless spatial grasper is designed. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point, and through symmetrical structure design of the four fingers, it is moment balanced. The advantages of the proposed reactionless grasper mechanism and the design process are discussed and the principal dimensions are derived.
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