In this paper an atlas of 64 linkage-type grippers is presented. For each mechanism one of the possible functional schematic is provided for a better understanding of its kinematic properties. Some of the linkages herein depicted are believed to be novel. The atlas should be helpful to designers in the field of robotics. Graph theory is involved, as far as the concepts of enumeration and isomorphism. The enumeration methodology adopted is described in detail and an extension of the concept of isomorphism to the class of actuated mechanisms briefly recalled.
An Atlas of Linkage Type Robotic Grippers / Belfiore, Nicola Pio; E., Pennestrì. - In: MECHANISM AND MACHINE THEORY. - ISSN 0094-114X. - STAMPA. - 32:Issue 7, October 1997(1997), pp. 811-833. [10.1016/S0094-114X(97)00006-2]
An Atlas of Linkage Type Robotic Grippers
BELFIORE, Nicola Pio;
1997
Abstract
In this paper an atlas of 64 linkage-type grippers is presented. For each mechanism one of the possible functional schematic is provided for a better understanding of its kinematic properties. Some of the linkages herein depicted are believed to be novel. The atlas should be helpful to designers in the field of robotics. Graph theory is involved, as far as the concepts of enumeration and isomorphism. The enumeration methodology adopted is described in detail and an extension of the concept of isomorphism to the class of actuated mechanisms briefly recalled.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
