semantic_scholarMechanism and Machine Theory
Novel underactuated grippers with torque-driven bistable mechanism for alternating grasping and unlimited twisting modes
Andrea Botta, Luigi Tagliavini, F. Amodio, Daniel Pacheco Quiñones, Danilo Stimolo, Giuseppe Quaglia, et al.
This paper presents the design and prototyping of a novel class of underactuated robotic grip-pers capable of alternating between stable grasping and continuous bidirectional twisting, named Mode-Retentive Underactuated Mechanisms (MRUM). The core of the design integrates a two-d…