The Design of Ternary Joint Robot Fingers without Drive Based on the Topological Graph of Kinematic Chain
The mechanism of original ternary joint robot fingers without drive is analyzed into several component. After its type and number is confirmed , we gain circular topological graph of kinematic chain with topological theory. Based on it, all the generalized kinematic chain is constructed. And so is evolved a series of regenerating kinematic chain and corresponding new type of mechanical graph according to specialized restriction. A designer can choose the new mechanism which is different from original one. The new one has better function, so the designer can realize his innovating design of three-joint robot fingers without drive.
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
W. C. Zhou and B. Wu, "The Design of Ternary Joint Robot Fingers without Drive Based on the Topological Graph of Kinematic Chain", Applied Mechanics and Materials, Vols. 34-35, pp. 761-764, 2010