On motion generation of watt i mechanisms for mechanical finger design

Document Type

Article

Publication Date

1-1-2008

Abstract

This work formulates and demonstrates a motion generation method for the synthesis of a particular type of planar six-bar mechanism-the Watt I mechanism. The Watt I mechanism is essentially a "stacked" four-bar mechanism (having two closed loops and a single degree of freedom). Extending the planar motion generation method of Suh and Radcliffe [11] to incorporate relative motion between moving pivots, Watt I mechanisms are synthesized to simultaneously approximate two groups of prescribed rigid-body poses for simultaneous dual motion generation capability. The example included demonstrates the synthesis of a finger mechanism to achieve a prescribed grasping pose sequence.

Identifier

63849242989 (Scopus)

Publication Title

Transactions of the Canadian Society for Mechanical Engineering

External Full Text Location

https://doi.org/10.1139/tcsme-2008-0027

ISSN

03158977

First Page

411

Last Page

421

Issue

3-4

Volume

32

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