Static Force Analysis of a Finger Mechanism for a Versatile Gripper

  • Ivan I. BorisovEmail author
  • Sergey A. Kolyubin
  • Alexey A. Bobtsov
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 95)


In the development of a mechanism, it is important to know the magnitudes, directions, and locations of the constraint forces between the connected links of the kinematic chain in order to design a mechanism with desired characteristics. This paper presents an approach of a static force analysis of the novel complex mechanism consisting of 8 links, which belongs to the VI class of the Assur group. It means that it can be only separated into an input link and a system of 6 links which cannot be divided into smaller groups; thus, traditional methods for graphical analyses cannot be used. The mechanism is used to implement a finger of a versatile bio-inspired industrial gripper, which can change the degree of freedom (DOF) in order to change the mode of grasping. It is possible to change DOF via breaking/reconnecting the kinematic chain of the finger. When the mechanism is intact, it has only 1 DOF and it represents a fully kinematically defined structure that allows performing a precision grasp. When the kinematic chain is broken, the finger gets underactuated, thus it has 2 DOF, and an underactuated power grasp can be performed. The finger represents different types of a mechanism in precision and power grasps. Force analyses of the finger in both modes were carried out in order to get information about the relationship between the torque applied to a driving link and forces applied to surfaces of phalanges. The paper is concerned with the force analysis and a design of a prototype of the gripper.


Grasping Grippers Mechanisms Underactuation Robotics 



This work is supported by the Russian Science Foundation grant (project №17-79-20341). The authors would like to express their deepest appreciation to TRA Robotics Ltd. Company for the technical assistance and support of this study.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ivan I. Borisov
    • 1
    • 2
    Email author
  • Sergey A. Kolyubin
    • 1
  • Alexey A. Bobtsov
    • 1
  1. 1.Faculty of Control Systems and RoboticsITMO UniversitySt. PetersburgRussia
  2. 2.Center for Technologies in Robotics and Mechatronics ComponentsInnopolis UniversityInnopolisRussia

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