NASA NTRS · 19870000203
Grasping Mechanism
Abstract
Grasping mechanism captures and locks onto rodlike handle without being precisely aligned with it initially. Mechanism includes two faceplates and three rotatable fingers meshing odd finger between two members of opposite finger pair. Power for fingers supplied by motor powered via harmonic drive reduces speed and increases torque by factor of 160.
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Myers, W. Neil, Forbes, John C.. 1987-04-01. Grasping Mechanism. https://ntrs.nasa.gov/citations/19870000203
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