罗志增, 顾培民. 一种单电机驱动多指多关节机械手的设计[J]. 机器人, 2009, 31(6): 620-624..
LUO Zhizeng, GU Peimin. Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving. ROBOT, 2009, 31(6): 620-624..
Abstract：In order to grasp objects dexterously and stably by robot,this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving.The motor drives a cross-linkage,whose terminal connects the first power rod of each finger.Every finger has three joints,and two knuckles each with a parallelogram structure ensure the translational motion of fingertip.The second power rod of each finger has a prolonged chute,and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves.The new design scheme of the single motor driven gripper is of simple control and solid grasp.
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