A Three-Fingered Adaptive Gripper with Multiple Grasping Modes
- Title
- A Three-Fingered Adaptive Gripper with Multiple Grasping Modes
- Author
- 이병주
- Keywords
- Robotics and Control Systems; Robot kinematics; Force; Grasping; Force sensors; Grippers; Task analysis; Force control
- Issue Date
- 2021-09
- Publisher
- IEEE Robotics & Automation Society
- Citation
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2021 IEEE/RSJ International Conference on. :6097-6103 Sep, 2021
- Abstract
- This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide the basic pinch grasp and power grasp. Detailed fingertip grasping force analysis shows the large payload of this gripper. To fulfill multiple challenging grasping tasks, the fingertip orientation of each finger was designed to be decoupled from the finger flexion motion. Particular emphasis is placed on the environmental contact-based grasp and active transition from the pinch grasp to the power grasp. Detailed analysis shows that the contact-based fingertip grasp could be used to grasp thin objects lying on a flat surface with widths less than 168 mm safely and stably. To prevent over-squeezing of the grasped object in the active transition, the fingertip orientation and finger flexion motion were controlled coordinately. Moreover, a combination of the contact-based grasp and the
direct power grasp was also allowed to grasp objects lying on a flat surface and having smooth surfaces robustly. Experimental results demonstrate the effectiveness of the proposed gripper in real-world applications.
- URI
- https://ieeexplore.ieee.org/document/9636758?arnumber=9636758&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/170432
- ISBN
- 978-1-6654-1714-3
- ISSN
- 2153-0866
- DOI
- 10.1109/IROS51168.2021.9636758
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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