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 12:07:28 GMT
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Viewed:
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640 times
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"Ross Crawford" <rosscraw@bigpond.net.au> wrote in message
news:IDJ470.tx2@lugnet.com...
> In lugnet.org.ca.rtltoronto, Rob Stehlik wrote:
> > 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?
>
> 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 there may be a better way too...
>
> ROSCO
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
end of travel is reached?
Cheers
Oliver
Play Well! Together!
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Message has 1 Reply:
 | | 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 (...) (20 years ago, 18-Mar-05, to lugnet.org.ca.rtltoronto)
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Message is in Reply To:
| | 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)
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