This paper presents a novel design for a robotic end effector. In particular, the design features a multifingered underactuated gripper capable of performing parallel and self-adaptive (PASA) grasping. The unique use of an eccentric cam fixed to a modified four-bar linkage mechanism allows the finger to compensate for the typical gap distance found during parallel pinching, improving the ability to grasp objects against surfaces and in tight spaces. A static analysis is performed on the design to determine the equilibrium conditions necessary for a successful grasp using this design in both the PASA modes. The mechanics of a four-bar mechanism are used to determine the grasp velocity and positioning of the hand in both grasp modes. Experimental results with a finger prototype confirm the desired closing trajectory.
An Underactuated PASA Finger Capable of Perfectly Linear Motion With Compensatory Displacement
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 3, 2018; final manuscript received October 12, 2018; published online December 10, 2018. Assoc. Editor: Veronica J. Santos.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Zheng, E., and Zhang, W. (December 10, 2018). "An Underactuated PASA Finger Capable of Perfectly Linear Motion With Compensatory Displacement." ASME. J. Mechanisms Robotics. February 2019; 11(1): 014505. https://doi.org/10.1115/1.4041786
Download citation file:
- Ris (Zotero)
- Reference Manager