The study debates theoretical and experimental findingson an original manlike gripping idea. This gripper is fairly basic distinguished to other manlike grippers, but it has the benefit of good performance in terms of greedy options and intensely inexpensive production costs. The human help, which can grasp objects utilizing just two fingers, served as inspiration. The manlike gripper under consideration has two fingers accompanying two phalanxes each and is based on a new method with connected bars. The gripping mechanism's kinematic study reveals the optimum displacement in the translational coupling, that has been tentatively validated. By attaching clamping jaws for each phalanx, the absorbing possibilities were expanded. The clamping jaws are belonging to spherical couplings, admitting them to catch objects with some type of surface. We emphasize the significance of safe use of two-fingered manlike grippers in various uses by conducting gripping tests accompanying various objects. The gripper's creative mechanical structure guarantees minimum gripping environments, while the complexity of the objects that can be entranced makes it acceptable for use in robots. The paper presents several instances of grasping parts of various shapes, stiffnesses and sizes, which validate the mechanics solution fulfilled in practice.
Author(s) Details:
Ionel Staretu,
Transilvania University of Brasov (Romania),
Technical Sciences Academy of Romania, Bucharest, Romania.
Marian
Bolboe,
Transilvania
University of Brasov (Romania), Technical Sciences Academy of Romania,
Bucharest, Romania.
Please see the link here: https://stm.bookpi.org/RADER-V2/article/view/10436
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