Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping
- Title
- Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping
- Author
- 서일홍
- Keywords
- actuators; dexterous manipulators; grippers; manipulator kinematics
- Issue Date
- 2019-11
- Publisher
- IEEE/RSJ
- Citation
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Page. 5608-5613
- Abstract
- This paper presents a 3-DOF linkage-driven underactuated finger for achieving several different grasp modes. This finger mechanism is constructed by stacking one five-bar mechanism over one double parallelogram. This special architecture allows for installing all of the actuators on the base. A 2-finger robotic gripper having three actuators is developed for performing self-adaptive power grasping, parallel precision grasping, grasping during contact with the environment, and other grasping tasks through changing the orientation of the distal phalanx actively. The performance of the gripper is confirmed through both simulation and practical grasping experiment.
- URI
- https://ieeexplore.ieee.org/document/8968037https://repository.hanyang.ac.kr/handle/20.500.11754/155364
- ISBN
- 978-1-7281-4004-9
- ISSN
- 2153-0866
- DOI
- 10.1109/IROS40897.2019.8968037
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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