Low-Friction Joint for Robot Fingers

Abstract

Mechanical linkage allows adjacent parts to move relative to each other with low friction and with no chatter, slipping, or backlash. Low-friction joint of two surfaces in rolling contact, held in alinement by taut flexible bands. No sliding friction or stick-slip motion: Only rolling-contact and bending friction within bands. Proposed linkage intended for finger joints in mechanical hands for robots and manipulators.