A Three-Fingered Pantograph Manipulator—A Kinematic Study

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Abstract
General kinematic principles are set down for an algorithmically-simple three-fingered robot-attachment intended to grasp and manipulate objects. After proposing a design for a finger-tip that determines precisely a grasping-point, the geometry of a swivelling pantograph-arrangement is pursued in some detail. Forward and inverse relations are developed, and a means for maintaining grasp during manipulation is outlined. Force-sensing and driving-means are touched upon. Certain alternative schematic designs are presented and compared.

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