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

<p>This paper presents the design and optimization of four versions of self-adaptive, a.k.a. underactuated, fingers based on four-bar linkages. These fingers are designed to be attached to and used with the same standard translational grippers as one finds in the manufacturing and packaging in...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	F. Nassar, L. Birglen
Formato:	article
Lenguaje:	EN
Publicado:	Copernicus Publications 2021
Materias:	Materials of engineering and construction. Mechanics of materials TA401-492
Acceso en línea:	https://doaj.org/article/e9d23cf03b3a4dde893e4eb022ca1295
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:e9d23cf03b3a4dde893e4eb022ca1295
record_format	dspace
spelling	oai:doaj.org-article:e9d23cf03b3a4dde893e4eb022ca12952021-11-24T11:18:23ZForce analysis of minimal self-adaptive fingers using variations of four-bar linkages10.5194/ms-12-1037-20212191-91512191-916Xhttps://doaj.org/article/e9d23cf03b3a4dde893e4eb022ca12952021-11-01T00:00:00Zhttps://ms.copernicus.org/articles/12/1037/2021/ms-12-1037-2021.pdfhttps://doaj.org/toc/2191-9151https://doaj.org/toc/2191-916X<p>This paper presents the design and optimization of four versions of self-adaptive, a.k.a. underactuated, fingers based on four-bar linkages. These fingers are designed to be attached to and used with the same standard translational grippers as one finds in the manufacturing and packaging industries. This paper aims at showing self-adaptive fingers as simply as possible and analysing the resulting trade-off between complexity and performance. To achieve this objective, the simplest closed-loop 1 degree-of-freedom (DOF) linkage, namely the four-bar linkage, is used to build these fingers. However, it should be pointed out that if this work does consider a single four-bar linkage as the basic building block of the fingers, four variations of this four-bar linkage are actually discussed, including some with a prismatic joint. The ultimate purpose of this work is to evaluate whether the simplest linkages for adaptive fingers can produce the same level of performance in terms of grasp forces as more complex designs. To this end, a kinetostatic analysis of the four fingers is first presented. Then, the fingers are all numerically optimized considering various force-based metrics, and results are presented. Finally, these results are analysed and prototypes shown.</p>F. NassarL. BirglenCopernicus PublicationsarticleMaterials of engineering and construction. Mechanics of materialsTA401-492ENMechanical Sciences, Vol 12, Pp 1037-1049 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Materials of engineering and construction. Mechanics of materials TA401-492
spellingShingle	Materials of engineering and construction. Mechanics of materials TA401-492 F. Nassar L. Birglen Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
description	<p>This paper presents the design and optimization of four versions of self-adaptive, a.k.a. underactuated, fingers based on four-bar linkages. These fingers are designed to be attached to and used with the same standard translational grippers as one finds in the manufacturing and packaging industries. This paper aims at showing self-adaptive fingers as simply as possible and analysing the resulting trade-off between complexity and performance. To achieve this objective, the simplest closed-loop 1 degree-of-freedom (DOF) linkage, namely the four-bar linkage, is used to build these fingers. However, it should be pointed out that if this work does consider a single four-bar linkage as the basic building block of the fingers, four variations of this four-bar linkage are actually discussed, including some with a prismatic joint. The ultimate purpose of this work is to evaluate whether the simplest linkages for adaptive fingers can produce the same level of performance in terms of grasp forces as more complex designs. To this end, a kinetostatic analysis of the four fingers is first presented. Then, the fingers are all numerically optimized considering various force-based metrics, and results are presented. Finally, these results are analysed and prototypes shown.</p>
format	article
author	F. Nassar L. Birglen
author_facet	F. Nassar L. Birglen
author_sort	F. Nassar
title	Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
title_short	Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
title_full	Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
title_fullStr	Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
title_full_unstemmed	Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
title_sort	force analysis of minimal self-adaptive fingers using variations of four-bar linkages
publisher	Copernicus Publications
publishDate	2021
url	https://doaj.org/article/e9d23cf03b3a4dde893e4eb022ca1295
work_keys_str_mv	AT fnassar forceanalysisofminimalselfadaptivefingersusingvariationsoffourbarlinkages AT lbirglen forceanalysisofminimalselfadaptivefingersusingvariationsoffourbarlinkages
_version_	1718415082481778688

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

Ejemplares similares