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Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors

Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors
Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors
This paper presents design for a finger mechanism that has evolved from the stringent requirement of ruggedness and reliability in an industrial application. The paper initially describes the need for a special purpose end effector to operate in a constrained environment and then takes through the various stages of design modifications that were required to ensure safety and reliability. This resulted into a rigid link finger design, which is adaptive to different shapes and operated by a single actuator providing up to 3 degrees of freedom to the finger. A number of such finger mechanisms can be assembled together in different configurations to design special purpose end effectors. This paper covers two such designs and briefly discusses the grasping and control issues associated with the limited number of actuators built into the end effector, and evaluates their suitability in industrial environments. The design overcomes limitations of majority of existing tendon based end effectors requiring a large number of actuators to be controlled thus meeting the space and safety requirements for constrained industrial applications.
Dubey, Venketesh
387e1652-7e2d-4b25-9541-d17b684170a2
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Dubey, Venketesh
387e1652-7e2d-4b25-9541-d17b684170a2
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023

Dubey, Venketesh and Crowder, Richard (2008) Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors. At Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering. 03 - 06 Aug 2008.

Record type: Conference or Workshop Item (Paper)

Abstract

This paper presents design for a finger mechanism that has evolved from the stringent requirement of ruggedness and reliability in an industrial application. The paper initially describes the need for a special purpose end effector to operate in a constrained environment and then takes through the various stages of design modifications that were required to ensure safety and reliability. This resulted into a rigid link finger design, which is adaptive to different shapes and operated by a single actuator providing up to 3 degrees of freedom to the finger. A number of such finger mechanisms can be assembled together in different configurations to design special purpose end effectors. This paper covers two such designs and briefly discusses the grasping and control issues associated with the limited number of actuators built into the end effector, and evaluates their suitability in industrial environments. The design overcomes limitations of majority of existing tendon based end effectors requiring a large number of actuators to be controlled thus meeting the space and safety requirements for constrained industrial applications.

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More information

Published date: August 2008
Additional Information: Event Dates: 3-6 August 2008
Venue - Dates: Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering, 2008-08-03 - 2008-08-06
Organisations: Agents, Interactions & Complexity

Identifiers

Local EPrints ID: 266558
URI: https://eprints.soton.ac.uk/id/eprint/266558
PURE UUID: 76ce47ca-f834-4928-9d12-a496460f1e1a

Catalogue record

Date deposited: 11 Aug 2008 16:20
Last modified: 18 Jul 2017 07:15

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Contributors

Author: Venketesh Dubey
Author: Richard Crowder

University divisions

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