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 19:23:04 GMT
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Viewed:
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572 times
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Oliver wrote:
> 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?
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 clutch gear or make
the belts slip until the other finger is touching the object.
The differential gearing method only requires enough force on the object
to overcome friction in the gear train until both fingers are touching
the object. This should be significantly less then the force needed to
over come a clutch gear or belts.
Also once the fingers of the gripper are fully gripping, the
differential gear method is not limited to the amount of force it can
apply to the object to grip it. The clutch gear or belt method will
always have a limited force it can apply.
However the clutch gear or belt methods would definitely be easier to
build. So it all comes down to what you are trying to do, and what is
important to the problem you are trying to solve.
Derek
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Message is in Reply To:
 | | 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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