New reactionless spatial grasper design and analysis

Dan Zhang, Bin Wei

Research output: Journal article publicationJournal articleAcademic researchpeer-review


A new reactionless spatial grasper is proposed and designed based on the principal vector linkage. In the literature, few dynamic balanced spatial grasp mechanisms can be found and here a new reactionless spatial grasper is designed. 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 moment balanced. The advantages of the proposed reactionless grasper mechanism and the design process are discussed and the principal dimensions are derived.

Original languageEnglish
Pages (from-to)257-263
Number of pages7
JournalLecture Notes in Mechanical Engineering
Publication statusPublished - 2017
Externally publishedYes


  • Principal vector linkage
  • Reactionless grasper
  • Symmetrical design

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes


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