The University of Southampton
University of Southampton Institutional Repository

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. Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering, New York. 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.

Text
DETC2008-49999.pdf - Other
Restricted to Registered users only
Download (286kB)
Request a copy

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, New York, 2008-08-03 - 2008-08-06
Organisations: Agents, Interactions & Complexity

Identifiers

Local EPrints ID: 266558
URI: http://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: 14 Mar 2024 08:30

Export record

Contributors

Author: Venketesh Dubey
Author: Richard Crowder

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×