Structural and geometric synthesis of the mechanism of the finger of a universal gripping device for precise pinching and force bow grips
The development and justifications of the methods of structural and geometric synthesis of the finger mechanism of a universal anthropomorphic industrial gripping device that implements both accurate pinch parallel and force gripping grips as a result of closing-opening of the kinematic scheme are considered. Pinch parallel capture allows to manipulate objects of different shapes, sizes and masses in a certain range. The bow grip allows to increase the lifting capacity of the device when capturing the bodies of revolution.