Method for designing and controlling compliant gripper
نویسندگان
چکیده
منابع مشابه
Adaptive neuro fuzzy controller for adaptive compliant robotic gripper
The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult no control using conventional techniques. Here, a novel design of an adaptive neuro fuzzy inference strategy (ANFIS) for con...
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The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate any irregular and sensitive grasping object. The purpose of the underactuation is to use the power of one actuator to drive the opening and closing motion ...
متن کاملDevelopment of a new type of passively adaptive compliant gripper
Purpose – Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping object. The purpose of the underactuation is to use less active inputs than the number of degrees of freedom of the gripper mechanism to drive the open and close motion of the gripper. Another purpose of underaction is to reduce the number of c...
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This paper approaches the design problem of suitable grippers for a robotic arm to pick up horticulture products. General considerations have been pointed out and main concepts and mechanical designs have been discussed and proposed by sketches and drawings for an easy understanding of “on-field” problems and feasible solutions. Pneumatic actuation has been proposed with suitable grasp force co...
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ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2016
ISSN: 1757-8981,1757-899X
DOI: 10.1088/1757-899x/147/1/012046