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• W3119306103 endingPage "104240" @default.
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• W3119306103 abstract "• A novel simulated “soft” mechanical grasper is designed. • The grasper feature self-adaptability to the object and rigid mechanical structure. • The grasper feature single degree of freedom drives and uniform grasping force. • The scale of the transmission mechanism of knuckle units is calculated. • The grasping experiment is carried out. Graspers are primarily applied to grasp or hold objects in engineering. To study the design model of graspers, various methods have been suggested, which can be divided into two types basically, the bionic mechanical grasper and the grasper made of soft materials. However, the design models of the above two types feature multiple degree-of-freedom, difficult in control, uneven grasping force or specific requirements on the object's properties. A new design model of simulated “soft” mechanical grasper is developed in this paper. Different from the existing graspers, this grasper, composed of rigid mechanical structures, is able to drive and control with single-degree-of-freedom and automatically self-adapts to object's shape with uniform grasping force. And the scale of transmission mechanism of knuckle unit of the grasper is calculated. Through the grasping experiments of typically fragile and deformable objects, the design model is verified to be effective." @default.
• W3119306103 created "2021-01-18" @default.
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• W3119306103 date "2021-04-01" @default.
• W3119306103 modified "2023-09-23" @default.
• W3119306103 title "Design of a novel simulated “soft” mechanical grasper" @default.
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• W3119306103 doi "https://doi.org/10.1016/j.mechmachtheory.2020.104240" @default.
• W3119306103 hasPublicationYear "2021" @default.
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