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object-handling
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A cable-driven grasping mechanism with lock/unlock constraints
, Article Proceedings of the ASME Design Engineering Technical Conference ; Volume 6 A , 2013 ; 9780791855935 (ISBN) ; Saber, O ; Zohoor, H ; Sharif University of Technology
American Society of Mechanical Engineers
2013
Abstract
The application of manipulators is becoming more and more popular in object handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential. In this way, each phalanx starts moving toward the...
A cable-suspended robot with a novel cable based end effector
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 3 , July , 2010 , Pages 799-808 ; 9780791849170 (ISBN) ; Abyaneh, S ; Zohoor, H ; ASME Section ; Sharif University of Technology
2010
Abstract
Object handling is one of the most important applications of cable-suspended robots, which can be obtained by use of a gripper as its end-effector. In this paper, a novel cable-driven multi-finger gripper assembled on a cable-suspended robot has been presented. Using lock/unlock mechanisms, the under-actuated finger mechanism has been designed to have a human like motion. A cable-suspended robot structure with 3 position degrees of freedom is also proposed by employing active/passive cables in such a way that makes it capable of resisting external moments, while it may be simplified to a spatial point-mass cable robot during positioning operation. Furthermore, the robot workspace has been...