Gripper Design With Spherical Parallelogram Mechanism

Kocabas H.

JOURNAL OF MECHANICAL DESIGN, vol.131, no.7, 2009 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 131 Issue: 7
  • Publication Date: 2009
  • Doi Number: 10.1115/1.3125891
  • Journal Name: JOURNAL OF MECHANICAL DESIGN
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Istanbul Technical University Affiliated: No

Abstract

A novel spherical gripper mechanism with one degree of freedom was designed. This gripper consists of a network of spherical parallelogram mechanisms. Design limits, work space formulas, and required grasping forces were derived. Parallelogram mechanisms with unequal circular and spiral linkages were also investigated. It was shown that the spherical parallelogram mechanisms with spiral linkages may be used for grasping objects.