{"id":2063,"date":"2021-11-01T00:26:30","date_gmt":"2021-11-01T00:26:30","guid":{"rendered":"https:\/\/blog.metu.edu.tr\/eresmech\/?page_id=2063"},"modified":"2022-08-24T10:39:28","modified_gmt":"2022-08-24T10:39:28","slug":"grabber","status":"publish","type":"page","link":"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/example-2\/grabber\/","title":{"rendered":"Grabber"},"content":{"rendered":"<div id=\"pl-gb2063-69d62ee9744a4\"  class=\"panel-layout\" ><div id=\"pg-gb2063-69d62ee9744a4-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-gb2063-69d62ee9744a4-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-gb2063-69d62ee9744a4-0-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child widgetopts-SO\" data-index=\"0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><strong>Grabber Mechanism<\/strong><\/p>\n<p><strong>Engineering Drawing<\/strong><b>: <\/b>This mechanism is used to grab cylindical or close to cylindrical pieces.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1705 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/grabber_1.gif\" alt=\"\" width=\"461\" height=\"336\" \/><\/p>\n<p><strong>Schematic Diagram: <\/strong>Mechanism has eight links and is driven by a hydraulic piston. Links 2, 3, 4, 5, 6, 7 and 8 have 2 kinematic elements each. Link 1 and 4 each have 4 kinematic elements.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1706 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/grabber_2.gif\" alt=\"\" width=\"396\" height=\"302\" \/><\/p>\n<p><strong>Determination of the degree-of-freedom:<\/strong><br \/>\nFor the determination of the degree-of-freedom, since the link dimenbsions are not important, the mechanism can be shown schematically as below.<\/p>\n<table border=\"0\" width=\"85%\" align=\"center\">\n<tbody>\n<tr>\n<td>Number of links: <em>l<\/em>\u00a0= 8<\/td>\n<\/tr>\n<tr>\n<td>Number of Joints:\u00a0j = 10 (9 revolute and 1 prismatic joints)<\/td>\n<\/tr>\n<tr>\n<td>Degree-of-freedom of the joints:\u00a0f<sub>i<\/sub>\u00a0= 1 (for revolute and prismatic joints)<\/td>\n<\/tr>\n<tr>\n<td>Degree-of-freedom of space: \u03bb = 3<\/td>\n<\/tr>\n<tr>\n<td>Degree-of-freedom of the mechanism<\/td>\n<\/tr>\n<tr>\n<td>F\u00a0= 3(8 \u2212 10 \u2212 1) + 10<\/td>\n<\/tr>\n<tr>\n<td>F = 1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1707 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/grabber_3.gif\" alt=\"\" width=\"446\" height=\"238\" \/><\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>","protected":false},"excerpt":{"rendered":"<p>Grabber Mechanism Engineering Drawing: This mechanism is used to grab cylindical or close to cylindrical pieces. Schematic Diagram: Mechanism has eight links and is driven by a hydraulic piston. Links 2, 3, 4, 5, 6, 7 and 8 have 2 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mechanisms\/ch2\/example-2\/grabber\/\"> <span class=\"screen-reader-text\">Grabber<\/span> Devam\u0131n\u0131 Oku &raquo;<\/a><\/p>\n","protected":false},"author":7747,"featured_media":0,"parent":2056,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"full-width-page.php","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-2063","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/2063","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/users\/7747"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/comments?post=2063"}],"version-history":[{"count":0,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/2063\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/2056"}],"wp:attachment":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/media?parent=2063"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}