1 DoF Mechanism realizes both Gripping and Lifting up Object

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  • 物体の把持と持ち上げを同時に実現する 1 自由度機構

Abstract

In this study, Man-powered Robotics has been proposed and some applications has been developed. Man-powered Robotics realizes servo control of axes using not electrical energy but human power inputted to the system using a handle, a pedal and so on. In this paper, to realize handling an object, a griping mechanism is proposed. The mechanism employs four-joint link structures on its end of hand. By parallel transition of the four-joint structures, the mechanism realizes both griping and lifting up with one degree of freedom.

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