The application of manipulators is becoming more and more popular in object handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential. In this way, each phalanx starts moving toward the object when the previous phalanx had already made its contact. The gripping motion of the mechanism has been classified into five steps according to each phalanx’s status as being locked or unlocked. For each step, dynamics equations are derived involving kinematic parameters of the mechanism as well as the tension in the cables. Finally a numerical example is provided to obtain tensions in the gripper cables.

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