Abstract
A small pinching device with three opposed fingers using 3D cam mechanism for precise pinching is developed. The 3D cam mechanism is a backlash-less joint mechanism for robot hands that has been developed by authors. By combining two sets of 3D cam mechanism, two fingered pinching device also developed by authors so far. However, the pinching performance of two fingered structure is not stable enough for various objects. In this paper, we developed three fingered pinching device to increase the stability of pinching. The design and concept are presented and the pinching performance of a manufactured prototype is also discussed with experiments.
