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The smooth motion of the prototype is largely attributable to the use of oil impregnated sintered bronze bushings as bearings to support radial loads. The bushings shown in Figure 3 were press-fit into seats in the links. The seats and the slight interference of the fit prevented the bearings from slipping out of the links. Precision shafts were cut to size and used as pins to constrain the links and secured with c-clips. The pins were locked in place using retaining rings. Linkages were designed so that the distance between the outer edge of the link and the outer diameter of the bushing was greater than or equal to the diameter of the bushing. This geometric constraint proved sufficient for preventing tear-out in the linkage arms. The team plans to continue developing the assistive gripping device with the ultimate goal of fully integrating all mechatronic components into the base of the mechanism.
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