Grasp-stability analysis of a two-phalanx isotropic underactuated finger

—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.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Rani Rizk, Sébastien Krut, Etienne Dombre
• Keywords: Grasp Stability, Gripper, IROS 2007, Isotropic Underactuated Finger, Robotics