Abstract
This paper presents a class of single degree-of-freedom (DOF) grasping manipulators (GMs) with multi-finger design composed of multiple single-loop mechanisms. A method is proposed to type synthesize single-DOF single-loop mechanisms (SLMs) using the improved atlas method. The conventional atlas method produces redundant mechanisms when the diversity of mechanisms is considered; the proposed method addresses this problem. SLM is split into two sub-chains. Sub-chain 1 has only one revolute pair, and one kinematic pair of sub-chain 2 is one revolute pair. Using these two revolute pairs, the type synthesis of SLMs is transformed into the type synthesis of the residual kinematic pairs of sub-chain 2. First, the constraint space of sub-chain 1 is analyzed using screw theory, and the constraint space of sub-chain 2 is further determined and classified. Subsequently, according to the classification of constraints, SLMs are further synthesized using the improved atlas method. Finally, this paper introduces the connection methods for typical SLMs and describes the construction of single-DOF GMs with multi-finger design.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
