Design Process:
Kinematic Analysis:
For Kinematic Analysis, we will split it into two parts. The first is the palm of the claw, which contains the slider crank mechanism that transfers motion from the motor to the finger. The second analysis will be from the prototype and explain the motion of the finger.
Analysis of the slider crank mechanism:
After we have analyzed the slider crank mechanism, we can look at the analysis of the double chebyshev slider system. This was already calculated in the prototype, but the work will be put here for ease of reference.
Kinematic Analysis of Finger Mechanism:
In conclusion: these two systems can be related to each other by understanding that lever D in the slider crank is link A in the finger mechanism. Thus angle 4 in the slider crank is angle 2 in the finger mechanism and omega 4 in the slider crank is omega 2 in the finger mechanism. The Mechanical Advantage is graphed below:
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Implementation:
Final Demonstration:
Conclusion and Future Works: