Design of a dynamic balanced spatial grasper mechanism

Dan Zhang; Bin Wei

doi:10.1109/CCDC.2015.7162689

Design of a dynamic balanced spatial grasper mechanism

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

In this paper, a dynamic balanced spatial grasper mechanism is proposed and designed based on the principle vector linkage. In the literature, no dynamic balanced spatial grasp mechanism can be found and here we will design a dynamic balanced spatial grasper mechanism. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point and through symmetrical structure design of the four fingers, it is also moment balanced. The advantages of the proposed dynamic balanced grasper mechanism and the design process are discussed and the principle dimensions are derived.

Original language	English
Title of host publication	Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4321-4324
Number of pages	4
ISBN (Electronic)	9781479970179
DOIs	https://doi.org/10.1109/CCDC.2015.7162689
Publication status	Published - 17 Jul 2015
Externally published	Yes
Event	27th Chinese Control and Decision Conference, CCDC 2015 - Qingdao Haiqing Hotel, Qingdao, China Duration: 23 May 2015 → 25 May 2015

Publication series

Name	Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015

Conference

Conference	27th Chinese Control and Decision Conference, CCDC 2015
Country/Territory	China
City	Qingdao
Period	23/05/15 → 25/05/15

Keywords

Dynamic Balance
Principle Vector Linkage
Spatial Grasper Mechanism
Symmetrical Design

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization
Management Science and Operations Research

More information

10.1109/CCDC.2015.7162689

Cite this

Zhang, D., & Wei, B. (2015). Design of a dynamic balanced spatial grasper mechanism. In Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015 (pp. 4321-4324). Article 7162689 (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2015.7162689

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title = "Design of a dynamic balanced spatial grasper mechanism",

abstract = "In this paper, a dynamic balanced spatial grasper mechanism is proposed and designed based on the principle vector linkage. In the literature, no dynamic balanced spatial grasp mechanism can be found and here we will design a dynamic balanced spatial grasper mechanism. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point and through symmetrical structure design of the four fingers, it is also moment balanced. The advantages of the proposed dynamic balanced grasper mechanism and the design process are discussed and the principle dimensions are derived.",

keywords = "Dynamic Balance, Principle Vector Linkage, Spatial Grasper Mechanism, Symmetrical Design",

author = "Dan Zhang and Bin Wei",

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year = "2015",

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Zhang, D & Wei, B 2015, Design of a dynamic balanced spatial grasper mechanism. in Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015., 7162689, Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 4321-4324, 27th Chinese Control and Decision Conference, CCDC 2015, Qingdao, China, 23/05/15. https://doi.org/10.1109/CCDC.2015.7162689

Design of a dynamic balanced spatial grasper mechanism. / Zhang, Dan; Wei, Bin.
Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4321-4324 7162689 (Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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N2 - In this paper, a dynamic balanced spatial grasper mechanism is proposed and designed based on the principle vector linkage. In the literature, no dynamic balanced spatial grasp mechanism can be found and here we will design a dynamic balanced spatial grasper mechanism. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point and through symmetrical structure design of the four fingers, it is also moment balanced. The advantages of the proposed dynamic balanced grasper mechanism and the design process are discussed and the principle dimensions are derived.

AB - In this paper, a dynamic balanced spatial grasper mechanism is proposed and designed based on the principle vector linkage. In the literature, no dynamic balanced spatial grasp mechanism can be found and here we will design a dynamic balanced spatial grasper mechanism. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point and through symmetrical structure design of the four fingers, it is also moment balanced. The advantages of the proposed dynamic balanced grasper mechanism and the design process are discussed and the principle dimensions are derived.

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Design of a dynamic balanced spatial grasper mechanism

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

More information

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