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(...) 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 (...) (19 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
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| | 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 (...) (19 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
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| | Re: Underactuated robotic hands
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"Ross Crawford" <rosscraw@bigpond.net.au> wrote in message news:IDJ470.tx2@lugnet.com... (...) How about driving the gearing of the fingers with either the clutch gear or using belts to drive each finger to max but allow them to safely stall when (...) (19 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
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| | Re: Underactuated robotic hands
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(...) The problem with this method is it applies uneven force to the object through the fingers while they are closing. So if you have two fingers and one hits the object first it will have to apply enough pressure to the object to over come the (...) (19 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
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| | 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 (...) (19 years ago, 27-Mar-05, to lugnet.org.ca.rtltoronto)
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