https://www.selleckchem.com/pr....oducts/FK-506-(Tacro
This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latt
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