Mechanical implementation of kinematic synergy for multi-point grasping

Abstract

This article presents the virtual experimentation of the dynamics for diverse multipoint grasping mechanisms, similar to the anthropometric mechanism of a human hand, using a multibody dynamic simulator. These simulations will allow us to evaluate diverse mechanisms, for selecting the one with the best performance; that is the one that has the greater energy efficiency while presenting the most equal distribution of the force along the contact points. The result tests the implementation of a grasping mechanism, and a support mechanism that allows a kinematic synergy between all the links of the mechanism, providing an immediate adaptation to the object shapes held by a force distribution along the contact points, increasing the stability of the supported object. As another result, the mechanism also allows the transmission of force in a unidirectional way by means of a mechanical arrange in the support mechanism, which in turn allows undetermined interlocking resulting in greater energy efficiency because during this period there is no energy consumption by the actuator.