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Grasping Mechanisms With Self-Centering and Force-Balancing Characteristics

[+] Author Affiliations
Scott H. Brooks

Sandia National Laboratories, Albuquerque, NM

Spencer P. Magleby, Larry L. Howell

Brigham Young University, Provo, UT

Paper No. DETC2005-85478, pp. 405-414; 10 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


This paper presents grasping mechanism configurations that are self-centering with balanced reaction forces, and develops the design principles, models, and analysis methods of achieving these characteristics in compliant mechanisms. The configurations emulate the self-centering and balanced actuation force characteristics exhibited by hydraulic disc-brake systems. Purely mechanical grasping systems, in which both the mechanism and the object being grasped are rigidly attached to ground, require 2 degrees of freedom in the grasping mechanism. It is shown that compliant configurations can exhibit the balanced-force behavior as well as rigid-link mechanisms.

Copyright © 2005 by ASME
Topics: Force , Grasping , Mechanisms



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