A Study of Grippers with Multiple Degrees of Mobility : Vibration, Control Engineering, Engineering for Industry

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概要

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• The number and dimensional syntheses of mechanical grippers with multiple degrees of mobility are presented systematically. Several types of contacts of fingers with a grasped body are considered as kinematic pairs, and number conditions for grasping a body are derived by applying Grubler's mobility equation to the gripper-body kinematic system. A number synthesis of a gripper with one input and three degrees of mobility, as an example, is carried out, and dimensions of parameters of such a gripper are determined by considering action forces and transmissibilities. Moreover, the graspable size of a circular cylinder by such a gripper is obtained, and is compared numerically to that with the use of a conventional parallel-two-finger-type gripper. Also, characteristics such as shapes, sizes, and masses of the bodies are obtained with respect to a circular cylinder, a regular square prism, and a hexagonal prism.

• 一般社団法人日本機械学会の論文

著者

• SHIMOJIMA Hiroshi

  Tokyo Institute of Technology

• YAMAMOTO Kohtaroh

  Toshiba Corporation

• KAWAKITA Kohzoh

  Tokyo Institute of Technology

• Kawakita K

  Tokyo Institute Of Technology

• Yamamoto Kohtaroh

  Mitsubishi Electronic Co. Ltd.

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• A Study of Grippers with Multiple Degrees of Mobility : Vibration, Control Engineering, Engineering for Industry
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• Optimization of 6-Bar Watt Linkages Adjustable for the Coupler Motion
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