In this paper, an approach to generate grippers using Baranov chains is explored. First, a brief review about grippers is presented. Later, the approach of using Baranov chains for the synthesis of gripper mechanisms is discussed, which is based on concepts of group and graph theory. Then, examples are developed to illustrate the potential results. The examples are also used to investigate a set of desired characteristics of a gripper mechanism, such as number of contact points, mobility, symmetry and variety.
Synthesis of Gripper Mechanisms Derived from Baranov Chains
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
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