Design of a Simple Underactuated Mechanical Gripper

Mahasak Surakijboworn; Wittaya Wannasuphoprasit

doi:10.4028/www.scientific.net/AMM.619.44

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 619Design of a Simple Underactuated Mechanical...

Design of a Simple Underactuated Mechanical Gripper

Abstract:

The objective of this paper is to design and develop a simple geometry of an underactuated mechanical gripper which can provide most common hand grasps, fingertip grasp and enveloping grasp. The gripper consists of 2 2-DOF fingers underactuated by a pulley-tendon system, and a movable pulley for underactuation between fingers. Each finger has 2 links and 2 pulleys. A parallel linkage is used to translate distal phalanx toward an object such that fingertip grasp is improved. This work implements stability and force isotropy criteria to optimize the design. The prototype has 0.43 of pulley-radius ratio and 1.72 of link-length ratio. From primitive-shape grasping test, the gripper is able to achieve the stable configuration.

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Periodical:

Applied Mechanics and Materials (Volume 619)

Pages:

44-48

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.619.44

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Online since:

August 2014

Authors:

Mahasak Surakijboworn, Wittaya Wannasuphoprasit*

Keywords:

Finger, Grasp, Gripper, Isotropy, Simplicity, Stability, Underactuation

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* - Corresponding Author

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