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Grasp-Stability Analysis of a Two-Phalanx Isotropic Underactuated Finger

Rani Rizk 1, * Sébastien Krut 2 Etienne Dombre 2 
* Corresponding author
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Many underactuated grippers with fingers have been developed these last years. Their drawback is that they only ensure conditionally grasp stability. This paper presents a study of the grasp stability of an isotropic underactuated finger, which is made by two phalanxes and uses cams and tendon for actuation. The paper presents also a study of the internal forces developed in the transmission chains. The proposed model serves for the gripper using as for part dimensioning.
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Submitted on : Tuesday, December 11, 2007 - 11:18:33 AM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Monday, April 12, 2010 - 6:18:23 AM



  • HAL Id : lirmm-00194179, version 1



Rani Rizk, Sébastien Krut, Etienne Dombre. Grasp-Stability Analysis of a Two-Phalanx Isotropic Underactuated Finger. IROS'07: IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2007, San Diego, Californie, USA, pp.3289-3294. ⟨lirmm-00194179⟩



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