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Abstract

Purpose – To present design and analysis of a robotic finger mechanism for robust industrial applications. Methodology/Approach –The resultant design is a compact rigid link finger, which is adaptive to different shapes and sizes providing necessary grasping features. A number of such fingers can be assembled to function as a special purpose end effector. Findings – The mechanism removes a number of significant problems usually experienced with tendon-based designs. The finger actuation mechanism forms a compact and positive drive unit within the end effector’s body using solid mechanical linkages and integrated actuators. Research/Practical implications – The paper discusses the design issues associated with a limited number of actuators to operate in a constrained environment and presents various considerations necessary to ensure safe and reliable operations. Originality/Value – The design is original in existence and developed for special-purpose handling applications that offers a strong and reliable system where space and safety is of prime concern.

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• A robotic finger mechanism for robust industrial applications. (deposited 09 Jan 2012 12:26)
  • A robotic finger mechanism for robust industrial applications. (deposited 09 Jan 2012 14:04) [Currently Displayed]