Design and Implementation of a Multi-Function Gripper for Grasping General Objects
- Title
- Design and Implementation of a Multi-Function Gripper for Grasping General Objects
- Author
- 이병주
- Keywords
- gripper; suction; underactuation; underactuated; robot end-effector
- Issue Date
- 2019-12
- Publisher
- MDPI
- Citation
- APPLIED SCIENCES-BASEL, v. 9, No. 24, Article no. 5266
- Abstract
- The development of a reliable pick-and-place system for industrial robotics is facing
an urgent demand because many manual-labor works, such as piece-picking in warehouses and
fulfillment centers tend toward automation. This paper presents an integrated gripper that combines
a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of
objects in di erent working environments. The underactuated gripper consists of two fingers, and
each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over
one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be
installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is
used to grasp objects in narrow spaces and cluttered environments. The combination of the suction
and traditional linkage-driven grippers allows stable and reliable grasping under di erent working
environments. Finally, practical experiments using a wide range of objects and under di erent
grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
- URI
- https://www.mdpi.com/2076-3417/9/24/5266https://repository.hanyang.ac.kr/handle/20.500.11754/122260
- ISSN
- 2076-3417
- DOI
- 10.3390/app9245266
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
- 2019.12_이병주_Design and Implementation of a Multi-Function Gripper for Grasping General Objects.pdfDownload
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