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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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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.
MS | Articles | Volume 12, issue 2
Mech. Sci., 12, 1037–1049, 2021
https://doi.org/10.5194/ms-12-1037-2021
Mech. Sci., 12, 1037–1049, 2021
https://doi.org/10.5194/ms-12-1037-2021

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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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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