Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 2
Articles | Volume 12, issue 2
https://doi.org/10.5194/ms-12-1037-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-1037-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 2
Research article
 | 
24 Nov 2021
Research article |  | 24 Nov 2021

Force analysis of minimal self-adaptive fingers using variations of four-bar linkages

Fadi Nassar and Lionel Birglen

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Latest update: 02 Nov 2025
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Short summary
This paper presents the force analysis and optimization of four versions of self-adaptive robotic fingers based on the simplest closed-loop 1 degree-of-freedom mechanism possible, namely the four-bar linkage. Two of these versions include prismatic joints. It was concluded that simpler designs in adaptive fingers do not necessarily mean weaker performances since the results are at least comparable with other designs with more degrees of freedom.
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