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Motion Synthesis of a Chopstick-Type Gripping Mechanism

[+] Author Affiliations
Jyh-Jone Lee, Sheng-Lun Hu

National Taiwan University, Taipei, Taiwan, ROC

Paper No. DETC2005-84258, pp. 195-200; 6 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


In this paper, the kinematic synthesis of a chopstick-type gripping mechanism containing rolling pairs is studied. The design equations of the mechanism used as a rigid-body, guidance are established. The number of free choices in design variables in the kinematic synthesis is also discussed. The optimization-based numerical technique is applied to solve the design equations. The synthesized solutions are illustrated to discuss the kinematic states of the mechanism. It is also shown that the optimization-based method is effective in finding the admissible synthesis solution of the mechanism.

Copyright © 2005 by ASME
Topics: Motion , Mechanisms



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