Abstract
This article presents the virtual experimentation of the dynamics for diverse multipoint grasping mechanisms, similar to the anthropometric mechanism of a human hand, using a multibody dynamic simulator. These simulations will allow us to evaluate diverse mechanisms, for selecting the one with the best performance; that is the one that has the greater energy efficiency while presenting the most equal distribution of the force along the contact points.
The result tests the implementation of a grasping mechanism, and a support mechanism that allows a kinematic synergy between all the links of the mechanism, providing an immediate adaptation to the object shapes held by a force distribution along the contact points, increasing the stability of the supported object.
As another result, the mechanism also allows the transmission of force in a unidirectional way by means of a mechanical arrange in the support mechanism, which in turn allows undetermined interlocking resulting in greater energy efficiency because during this period there is no energy consumption by the actuator.
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Letechipia, M.A.T., Ramírez, J.A.C., Téllez, H.A. (2017). Mechanical Implementation of Kinematic Synergy for Multi-Point Grasping. In: Martínez-García, A., Furlong, C., Barrientos, B., Pryputniewicz, R. (eds) Emerging Challenges for Experimental Mechanics in Energy and Environmental Applications, Proceedings of the 5th International Symposium on Experimental Mechanics and 9th Symposium on Optics in Industry (ISEM-SOI), 2015. Conference Proceedings of the Society for Experimental Mechanics Series. Springer, Cham. https://doi.org/10.1007/978-3-319-28513-9_38
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DOI: https://doi.org/10.1007/978-3-319-28513-9_38
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Online ISBN: 978-3-319-28513-9
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