| contributor author | K. H. Hunt | |
| contributor author | L. E. Torfason | |
| date accessioned | 2017-05-08T23:25:17Z | |
| date available | 2017-05-08T23:25:17Z | |
| date copyright | June, 1987 | |
| date issued | 1987 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28077#171_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/102756 | |
| description abstract | General kinematic principles are set down for an algorithmically-simple three-fingered robot-attachment intended to grasp and manipulate objects. After proposing a design for a finger-tip that determines precisely a grasping-point, the geometry of a swivelling pantograph-arrangement is pursued in some detail. Forward and inverse relations are developed, and a means for maintaining grasp during manipulation is outlined. Force-sensing and driving-means are touched upon. Certain alternative schematic designs are presented and compared. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Three-Fingered Pantograph Manipulator—A Kinematic Study | |
| type | Journal Paper | |
| journal volume | 109 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3267432 | |
| journal fristpage | 171 | |
| journal lastpage | 177 | |
| identifier eissn | 1528-9001 | |
| keywords | Force | |
| keywords | Robots | |
| keywords | Design | |
| keywords | Grasping | |
| keywords | Geometry AND Manipulators | |
| tree | Journal of Mechanical Design:;1987:;volume( 109 ):;issue: 002 | |
| contenttype | Fulltext | |