Abstract
In the development of a mechanism, it is important to know the magnitudes, directions, and locations of the constraint forces between the connected links of the kinematic chain in order to design a mechanism with desired characteristics. This paper presents an approach of a static force analysis of the novel complex mechanism consisting of 8 links, which belongs to the VI class of the Assur group. It means that it can be only separated into an input link and a system of 6 links which cannot be divided into smaller groups; thus, traditional methods for graphical analyses cannot be used. The mechanism is used to implement a finger of a versatile bio-inspired industrial gripper, which can change the degree of freedom (DOF) in order to change the mode of grasping. It is possible to change DOF via breaking/reconnecting the kinematic chain of the finger. When the mechanism is intact, it has only 1 DOF and it represents a fully kinematically defined structure that allows performing a precision grasp. When the kinematic chain is broken, the finger gets underactuated, thus it has 2 DOF, and an underactuated power grasp can be performed. The finger represents different types of a mechanism in precision and power grasps. Force analyses of the finger in both modes were carried out in order to get information about the relationship between the torque applied to a driving link and forces applied to surfaces of phalanges. The paper is concerned with the force analysis and a design of a prototype of the gripper.
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Acknowledgment
This work is supported by the Russian Science Foundation grant (project â„–17-79-20341). The authors would like to express their deepest appreciation to TRA Robotics Ltd. Company for the technical assistance and support of this study.
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Borisov, I.I., Kolyubin, S.A., Bobtsov, A.A. (2020). Static Force Analysis of a Finger Mechanism for a Versatile Gripper. In: Arseniev, D., Overmeyer, L., Kälviäinen, H., Katalinić, B. (eds) Cyber-Physical Systems and Control. CPS&C 2019. Lecture Notes in Networks and Systems, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-030-34983-7_27
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