Evaluation of Usability of a 3-DOF Linkage-Driven Robotic Gripper Through Grasping Experiments
- Title
- Evaluation of Usability of a 3-DOF Linkage-Driven Robotic Gripper Through Grasping Experiments
- Author
- 최영진
- Issue Date
- 2020-08
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, article no. 9223592, Page. 266-271
- Abstract
- Conventional dexterous grippers are not only heavy and complex but also task dependent. As a result, they cannot provide power, intermediate and precision grasping together. We propose usability evaluation of a novel gripper mechanism which can provide 1-Degree of Freedom (DOF) parallel grasping and 2-DOF independent pinching by using a closed chain architecture. The usability of our design and one commercial product has been evaluated based on various grasping tasks: adaptive grasping, parallel pinching grasping, independent pinching grasping and contact grasping. The success rate has been evaluated to validate the excellent usability of the proposed 3-DOF gripper. © 2020 IEEE.
- URI
- https://ieeexplore.ieee.org/document/9223592https://repository.hanyang.ac.kr/handle/20.500.11754/180874
- ISSN
- 1944-9445;1944-9437
- DOI
- 10.1109/RO-MAN47096.2020.9223592
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML