The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high...The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.展开更多
文摘The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.
