A robotic finger mechanism for robust industrial applications

Venketesh N. Dubey; Richard M. Crowder

doi:10.1108/01439911111132049

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Industrial Robot: An International Journal

ISSN: 0143-991X

Online from: 1973

Subject Area: Mechanical & Materials Engineering

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A robotic finger mechanism for robust industrial applications

Document Information:
Title:	A robotic finger mechanism for robust industrial applications
Author(s):	Venketesh N. Dubey, (School of Design Engineering and Computing, Bournemouth University, Poole, UK), Richard M. Crowder, (University of Southampton, Southampton, UK)
Citation:	Venketesh N. Dubey, Richard M. Crowder, (2011) "A robotic finger mechanism for robust industrial applications", Industrial Robot: An International Journal, Vol. 38 Iss: 4, pp.352 - 360
Keywords:	Mechanically operated devices, Robotics
Article type:	Research paper
DOI:	10.1108/01439911111132049 (Permanent URL)
Publisher:	Emerald Group Publishing Limited
Acknowledgements:	The original funding for this work was from the UK Ministry of Defence and the Central Electricity Generating Board (now British Energy). The authors acknowledge the Faculty of Engineering and Applied Science, School of Electronics and Computer Science of University of Southampton, and the Overseas Research Student award from the UK Committee of Vice-Chancellors and Principals in supporting this research. The authors acknowledge the contribution of Dave Whatley for the realisation of the design, and the construction of the original prototype mechanism.
Abstract:	Purpose – The purpose of this paper is to present the design and analysis of a robotic finger mechanism for robust industrial applications. Design/methodology/approach – The resultant design is a compact rigid link finger, which is adaptive to different shapes and sizes providing necessary grasping features. A number of such fingers can be assembled to function as a special purpose end effector. Findings – The mechanism removes a number of significant problems usually experienced with tendon-based designs. The finger actuation mechanism forms a compact and positive drive unit within the end effector's body using solid mechanical linkages and integrated actuators. Practical implications – The paper discusses the design issues associated with a limited number of actuators to operate in a constrained environment and presents various considerations necessary to ensure safe and reliable operations. Originality/value – The design is original in existence and developed for special purpose handling applications that offers a strong and reliable system where space and safety is of prime concern.