Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
نویسندگان
چکیده
منابع مشابه
A Manipulator with a Depth Sensor and an Underactuated and Tactile Gripper for Identifying and Grasping Objects of Various Shapes and Sizes
We report on a methodology for identifying and grasping objects of various basic shapes in pick-and-place tasks with a manipulator containing a gripper. The gripper is designed to be underactuated and changeable in configuration (two-finger mode and three-finger mode) to increase its intrinsic adaptation to objects of various shapes. The tactile sensing system, composed of a pressure sensor arr...
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Axial field flux switching motor with sandwiched permanent magnet (AFFSSPM) is a novel of flux switching motor. Based on the vector control method, the mathematical model of the AFFSSPM is derived and the operating performance of the AFFSSPM in the overall operating region is investigated.A novel control method for the AFFSSPM drive system, including the id =0, maximum torque per ampere, consta...
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In the eld of research and development of grippers in object-handling applications, many research results in improving grippers' performances have been achieved, and many kinds of multiinger grippers have been developed. By using multiinger grippers, it is possible to grasp diierent objects of diierent shapes without changing grippers; and most importantly, it can manipulate the grasped object ...
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While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without oc-clusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmittance are a...
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This paper examines the nature of joint coupling in underactuated grippers for environments where object properties and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it was actuated after contact with a target object. The joint coupling configuration of the gripper was varied in order to maximize success...
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ژورنال
عنوان ژورنال: Frontiers in Robotics and AI
سال: 2021
ISSN: 2296-9144
DOI: 10.3389/frobt.2021.631242