Design of a dynamic balanced spatial grasper mechanism

In this paper, a dynamic balanced spatial grasper mechanism is proposed and designed based on the principle vector linkage. In the literature, no dynamic balanced spatial grasp mechanism can be found and here we will design a dynamic balanced spatial grasper mechanism. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point and through symmetrical structure design of the four fingers, it is also moment balanced. The advantages of the proposed dynamic balanced grasper mechanism and the design process are discussed and the principle dimensions are derived.