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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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Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Abdeetedal, M. and Kermani, M. R.: Grasp and stress analysis of an underactuated finger for proprioceptive tactile sensing, IEEE/ASME Trans. Mech., 23.4, 1619–1629, 2018. 
Begoc, V., Krut, S., Dombre, E., Durand, C., and Pierrot, F.: Mechanical design of a new pneumatically driven underactuated hand, Proceedings 2007 IEEE International Conference on Robotics and Automation, 927–933, 2007. 
Birglen, L.: Enhancing versatility and safety of industrial grippers with adaptive robotic fingers, 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS), 2015. 
Birglen, L.: Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots, Autonomous Robots, 43.2, 523–538, 2019. 
Birglen, L., Laliberté, T., and Gosselin, C. M.: Underactuated robotic hands, Vol. 40, Springer, New-York, USA, 2007. 
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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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