Kim, Tae-Uk Oh, Yonghwan 2024-01-19T12:08:58Z 2024-01-19T12:08:58Z 2022-03-07 2014 2325-0682 https://pubs.kist.re.kr/handle/201004/115405 This paper suggests a design of a novel gripper using spatial adaptive fingers. The proposed gripper has spatial structure. Unlike the typical linkage-based under-actuated hands which only operate in a plane, the new gripper can perform motions in a plane and in space. In addition, the gripper can also perform non-prehensile movements, which cannot be realized in previous linkage systems due to the structure of input actuator. The core idea in the design of the finger is inspired from the Metacarpophalangeal(MCP) joint of human hand using a spherical five-bar linkage mechanism. The prototype of the proposed gripper is developed grasping tests with several different objects are also performed. English IEEE Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanism Conference 1 International Conference on Advanced Mechatronic Systems (ICAMechS), pp.145 - 150 International Conference on Advanced Mechatronic Systems (ICAMechS) 145 150 US Kumamoto, JAPAN 2014-08-10 2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) 000361466100028 2-s2.0-84907906975 Proceedings Paper