A linkage mechanism with high mechanical advantage for robotic grippers

Abstract In this paper, a compact linkage mechanism with high mechanical advantage and stroke is designed. The mechanism converts a small input force into a large output force using a toggle mechanism. Its feasibility for application in large gripping force manipulators has been verified. In the paper, the kinematic and static analyses of the mechanism are carried out. The effects of the mechanism parameters on its characteristics are investigated. Then, a dynamic mechanism simulation is carried out using ADAMS to obtain its mechanical gain and gripping force during motion. Finally, the processed double toggle mechanism is analyzed experimentally to verify its applicability. The simulation and experimental results show that the linkage mechanism performs better in the case of large gripping force demand. It can provide effective help for the design of mechanical grippers with large gripping force.