Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots
نویسندگان
چکیده
منابع مشابه
Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots
This paper presents the design and optimization of a self-adaptive, a.k.a. underactuated, finger targeted to be used with collaborative robots. Typical robots, whether collaborative or not, mostly rely on standard translational grippers for pickand-place operations. These grippers are constituted from an actuated motion platform on which a set of jaws is rigidly attached. These jaws are often d...
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Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2018
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-018-9802-x