Cezar-Ioan Frincu, Ioan Stroe



Mechanical Geometry of a Self-adaptive Prehensor with 2 or more Fingers

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The paper presents the geometry and structure of a mechatronic system that defines the functions of a prehensor.By assembling the elements within the structure, it can be obtained prehensors configured with 2 to 5 elements, which by geometrical configuration can reproduce the dynamics of the human hand. The quality of the prehension is determined by the degree of mobility between the object and the prehensor during the functional activity specific to the programmed task.The mechanical characteristic of the proposed prehensor for the self-adaptive control represents the function generated by the linear and circular displacements of the elements that define the geometrical structure equivalent to the human hand.There are presented the kinematic diagrams, which each describe the rotational movement respectively, the translational movement.The combination of the geometrical elements of the two schemes defines the kinematic structure of a self-adaptive prehensor with complex movements.With this structure presented in the paper, objects with different geometric shapes, simple and complex or combined, can be prehensat. The mechanical particularities of the self-adaptive prehensor are realized by the mechanical independence of each arm or finger.The proposed self-adaptive control allows the definition of the geometric shapes of prehensat objects.


prehensor, self-adaptive, grippers, kinematic scheme, arms, jaw.


Cite this paper

Cezar-Ioan Frincu, Ioan Stroe. (2019) Mechanical Geometry of a Self-adaptive Prehensor with 2 or more Fingers. International Journal of Control Systems and Robotics, 4, 33-36


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