A robotic finger mechanism for robust industrial applications

Author： Dubey Venketesh N. Crowder Richard M.

ISSN： 0143-991X

Source： Industrial Robot: An International Journal, Vol.38, Iss.4, 2011-06, pp. : 352-360

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Abstract

Purpose - The purpose of this paper is to present the design and analysis of a robotic finger mechanism for robust industrial applications. Design/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. 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.