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.
Issue Section:
Design Innovation
1.
SMC Pneumatics (New Zealand) Ltd.
, http://www.smcworld.com/http://www.smcworld.com/ http://www.smcpneumatics.co.uk/ecats/MHF2.pdfhttp://www.smcpneumatics.co.uk/ecats/MHF2.pdf2.
Gripper Finder,
Techno-Sommer Automatic Company
, http://www.techno-sommer.com/http://www.techno-sommer.com/3.
Pneumatic Grippers,
IMI Norgren Limited
, http://www.norgren.com/http://www.norgren.com/4.
Ji
, Z.
, and Roth
, B.
, 1988, “Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps
,” ASME J. Mech., Transm., Autom. Des.
0738-0666, 110
, pp. 405
–413
.5.
Tischler
, C. R.
, Hunt
, K. H.
, and Samuel
, A. E.
, 1998, “On Optimizing the Kinematic Geometry of a Dextrous Robot Finger
,” Int. J. Robot. Res.
0278-3649, 17
(10
), pp. 1055
–1067
.6.
Angeles
, J.
, 2002, Fundamentals of Robotic Mechanical Systems, Theory, Methods, and Algorithms
, 2nd ed., Springer
, New York
.7.
Salerno
, R. J.
, Canfield
, S. L.
, Ganino
, A. J.
, and Reinholtz
, C. F.
, 1995, “A Parallel, Four Degree-of-Freedom Robotic Wrist
,” ASME Design Engineering Technical Conferences
, 82
, pp. 765
–771
.8.
Adelstein
, B. D.
, Ho
, P.
, and Kazerooni
, H.
, 1996, “Kinematic Design of a Three Degree of Freedom Parallel Hand Controller Mechanism
,” Proceedings of the ASME Dynamic Systems and Control Division
, 58
, pp. 539
–546
.9.
Bruyninckx
, H.
, Thielemans
, H.
, and Schutter
, J. D.
, 1998, “Efficient Kinematics of a Spherical 4R Wrist by Means of an Equivalent 3R Wrist
,” Mech. Mach. Theory
0094-114X, 33
(6
), pp. 649
–659
.10.
Wiitala
, J. M.
, and Stanisic
, M. M.
, 2000, “Design of an Overconstrained and Dextrous Spherical Wrist
,” ASME J. Mech. Des.
0161-8458, 122
, pp. 347
–353
.11.
Hernandez
, S.
, Bai
, S.
, and Angeles
, J.
, 2006, “The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic Pitch-Roll Wrist
,” ASME J. Mech. Des.
0161-8458, 128
, pp. 422
–429
.12.
Hess-Coelho
, T. A.
, 2007, “A Redundant Parallel Spherical Mechanism for Robotic Wrist Applications
,” ASME J. Mech. Des.
0161-8458, 129
, pp. 891
–895
.13.
Wilson
, J. F.
, and Mahajan
, U.
, 1989, “The Mechanics and Positioning of Highly Flexible Manipulator Limbs
,” ASME J. Mech., Transm., Autom. Des.
0738-0666, 111
, pp. 232
–237
.14.
Umesh
, K. N.
, 1998, “Dexterous Mechanisms for Robot Locomotion
,” Mech. Mach. Theory
0094-114X, 33
(8
), pp. 1153
–1165
.15.
Isaak
, R.
, 2006, “A Study of Overconstrained Linkage Networks
,” MS thesis, Idaho State University, Pocatello, ID.16.
Yin
, X.
, and Wang
, X.
, 2004, “Gripper Characteristics of Deformed Elastic Circular Rods
,” Mech. Mach. Theory
0094-114X, 39
, pp. 97
–100
.17.
Baumann
, R.
, Maeder
, W.
, Glauser
, D.
, and Clavel
, D.
, 1997, “The Pantoscope: A Spherical Remote-Center-of-Motion Parallel Manipulator for Force Reflection
,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation
, Albuquerque, NM, 7
(4
), pp. 718
–723
.18.
1992,
McGraw-Hill Encyclopedia of Engineering
, 2nd ed., S. P.
Parker
, ed., McGraw-Hill
, New York
.19.
Tse
, D. M.
, and Larochelle
, P. M.
, 2000, “Approximating Spatial Locations With Spherical Orientations for Spherical Mechanism Design
,” ASME J. Mech. Des.
0161-8458, 122
, pp. 457
–463
.20.
Wampler
, C. W.
, 2004, “Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops
,” ASME J. Mech. Des.
0161-8458, 126
, pp. 93
–100
.21.
Ting
, K. L.
, and Zhu
, J.
, 2005, “On Realization of Spherical Joints in RSSR Mechanisms
,” ASME J. Mech. Des.
0161-8458, 127
, pp. 924
–930
.22.
Bonev
, I. A.
, and Gosselin
, C. M.
, 2006, “Analytical Determination of the Workspace of Symmetrical Spherical Parallel Mechanisms
,” IEEE Trans. Rob. Autom.
1042-296X, 22
(5
), pp. 1011
–1017
.23.
Shirazi
, K. H.
, 2006, “Symmetrical Coupler Curve and Singular Point Classification in Planar and Spherical Swinging-Block Linkages
,” ASME J. Mech. Des.
0161-8458, 128
, pp. 436
–443
.24.
Baker
, J. E.
, 2006, “On Generating a Class of Foldable Six-Bar Spatial Linkages
,” ASME J. Mech. Des.
0161-8458, 128
, pp. 374
–383
.25.
Baker
, J. E.
, 2007, “Kinematic Investigation of the Deployable Bennett Loop
,” ASME J. Mech. Des.
0161-8458, 129
, pp. 602
–610
.26.
Perez
, A.
, and McCarthy
, J. M.
, 2002, “Bennett’s Linkage and the Cylindroid
,” Mech. Mach. Theory
0094-114X, 37
, pp. 1245
–1260
.27.
Perez
, A.
, and McCarthy
, J. M.
, 2003, “Dimensional Synthesis of Bennett Linkages
,” ASME J. Mech. Des.
0161-8458, 125
, pp. 98
–104
.28.
Chen
, Y.
, 2003, “Design of Structural Mechanisms
,” Ph.D. thesis, Saint Hugh’s College, University of Oxford, Oxford, UK.29.
Montambault
, S.
, and Gosselin
, C. M.
, 2001, “Analysis of Underactuated Mechanical Grippers
,” ASME J. Mech. Des.
0161-8458, 123
, pp. 367
–374
.30.
Laliberte
, T.
, Birglen
, L.
, and Gosselin
, C. M.
, 2002, “Underactuation in Robotic Grasping Hands
,” Mach. Intell.
0076-2032, 4
(3
), pp. 1
–11
.31.
Birglen
, L.
, and Gosselin
, C. M.
, 2004, “Kinetostatic Analysis of Underactuated Fingers
,” IEEE Trans. Rob. Autom.
1042-296X, 20
(2
), pp. 211
–221
.32.
Birglen
, L.
, and Gosselin
, C. M.
, 2006, “Geometric Design of Three-Phalanx Underactuated Fingers
,” ASME J. Mech. Des.
0161-8458, 128
, pp. 356
–364
.33.
Schuler
, J.
, Ketchel
, J.
, and Larochelle
, P.
, 2007, “Computer-Aided Modeling and Manufacturing of Spherical Mechanisms via a Novel Web Tool
,” ASME J. Comput. Inf. Sci. Eng.
1530-9827, 7
, pp. 339
–346
.Copyright © 2009
by American Society of Mechanical Engineers
You do not currently have access to this content.
