Kinematic modeling of underactuated mechanical grippers

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2A-1996, Issue , 1996, Pages

  Montambault, Serge ^a   Gosselin, Clément M ^a  

^a UNIVERSITÉ LAVAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); GRIPPERS; KINEMATICS;

KINEMATIC ANALYSIS; KINEMATIC MODEL; MECHANICAL GRIPPERS; MECHANICAL HANDS; PLANAR MECHANISM; TWO-DEGREE OF FREEDOM; UNDER-ACTUATED MECHANISM; UNDER-ACTUATION;

MECHANISMS;

EID: 0012977231     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/96-DETC/MECH-1007     Document Type: Conference Paper

References (4)

1. Barker, L.K. and Houck, J.A.,1986, "Theoretical Three-and Four-Axis Gimbal Robot Wrists," Technical Paper NASA, Report No. NASA TP-2564, Washington, DC.
2. Dorf, R.C., 1988, International Encyclopaedia of Robotics, Wiley, New York, Vol. 3, pi994
3. Stammers, C.W., 1990, "Algorithms for a Versatile Two-Degree-of-Freedom Wrist," Proc Instn Mech Engrs, Vol. 204, pp 139-144
4. Stanisic, MM. and Duta, O., 1990, "Symmetrically Actuated Double Pointing Systems: The Basis of Singularity-Free Robot Wrists", IEEE Trans. On Robotics and Automation, Vol. 6, pp.562-569.