Subject:
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Re: Underactuated robotic hands
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Newsgroups:
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lugnet.org.ca.rtltoronto
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Date:
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Fri, 18 Mar 2005 01:18:35 GMT
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Viewed:
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627 times
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In lugnet.org.ca.rtltoronto, Chris Magno wrote:
> The idea of this for a "finger" is way cool:
>
> http://wwwrobot.gmc.ulaval.ca/recherche/theme04_a.html
Very cool indeed. I saw that page a long time ago when Iain got me interested in
parallel robots. I can't quite figure out the differential gearing that drives
the three fingers. If only two fingers had to be balanced, a single differential
would do, but how does it work for three fingers??? Can anyone explain to me how
the gearing would work?
Rob
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Message has 2 Replies:
 | | Re: Underactuated robotic hands
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| (...) I imagine it could be done with 2 standard diffs - one output of diff1 drives the input of diff2, the other output of diff1 & the 2 outputs of diff2 drive the fingers. You may have to experiment a little with gearing to get it right. Of course (...) (20 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
| | | Re: Underactuated robotic hands
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| (...) The only thing I can come up with, is to have 2 differentials. The first one (Diff. A) splits input 1 into outputs labeled 2 and 3. Item 2 connects to a 2:1 gear reducer and goes to finger i). Item 3 goes to Diff. B's input (item 4) and it's (...) (20 years ago, 27-Mar-05, to lugnet.org.ca.rtltoronto)
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