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A pseudo-isotropic three phalanxes under-actuated finger

Ghassan Dandash 1 Rani Rizk 1 Sébastien Krut 2 Etienne Dombre 2 
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A good gripper can adapt itself on any grasped object and ensure contact pressure as homogenous as possible. A gripper that provides a uniform contact pressure is said to be isotropic. Another feature of a gripper is its dexterity, which can be improved by under-actuation. This paper presents the design of a three-phalanx pseudo-isotropic under-actuated finger with anthropomorphic dimensions. Contact forces depend on the gripper folding angles and the transmission torque ratio between unactuated joints. In order to ensure a grasping as isotropic as possible two cams were used. The isotropy is checked up by recalculation of the contact forces.
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Submitted on : Tuesday, November 22, 2011 - 11:06:14 AM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Thursday, February 23, 2012 - 2:25:06 AM


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  • HAL Id : lirmm-00643542, version 1



Ghassan Dandash, Rani Rizk, Sébastien Krut, Etienne Dombre. A pseudo-isotropic three phalanxes under-actuated finger. IFToMM'2011: 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. pp.1-8. ⟨lirmm-00643542⟩



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