Grasp-Stability Analysis of a Two-Phalanx Isotropic Underactuated Finger - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2007

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

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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Dates and versions

lirmm-00194179 , version 1 (11-12-2007)

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  • HAL Id : lirmm-00194179 , version 1

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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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