The Design of Ternary Joint Robot Fingers without Drive Based on the Topological Graph of Kinematic Chain

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 34-35)
• Pages: 761-764
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.34-35.761
• Online since: October 2010
• Authors: Wan Chun Zhou, Bo Wu
• Keywords: Kinematic Chain, Regenerated Kinematic Chain, Three Joint Robot Fingers Without Drive, Topological Graph

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