Abstract
The paper shows the optimal synthesis of grasping device design based on the Chebyshev spacing method. The original grasping device uses two symmetrical four-bar linkages with opposite motion of the jaws fixed on the coupler. The goal of the study is the development of a grasping device with minimal error of the axial centering, which reduces the synthesis to a four-pose one for the four-bar linkage. In order to minimize the centering error of the grasping device an equivalent Chebyshev spacing method for establishing the synthesis poses is used. A simplified pose synthesis method for the grasping four-bar linkage is developed. The both deviations of the axial centering errors (without spacing and with spacing) for the obtained linkage are indicated and analyzed.
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Mesaros-Anghel, V., Lovasz, EC., Gruescu, C.M., Moldovan, C.E. (2017). Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_1
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DOI: https://doi.org/10.1007/978-3-319-45450-4_1
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