Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation
نویسندگان
چکیده
منابع مشابه
Adaptive neuro fuzzy estimation of underactuated robotic gripper contact forces
0957-4174/$ see front matter 2012 Elsevier Ltd. A http://dx.doi.org/10.1016/j.eswa.2012.07.076 ⇑ Corresponding author. E-mail address: [email protected] (D. Petković) It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult to analyze with conventional analytical methods. Here, a novel design of an ...
متن کاملCompensatory Grasping with the Parallel Jaw Gripper
For many industrial parts, their natural resting pose differs from the orientation desired for assembly. We have found that it is possible in many cases to compensate for this difference using a parallel-jaw gripper with fixed orientation. The idea is to arrange contact points on each gripper jaw so that the part is reoriented as it is grasped. We analyze the mechanics of compensatory grasping ...
متن کاملM Gripper: Extending the Dexterity of a Simple, Underactuated Gripper
In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M) Gripper, consists of a modular...
متن کاملGripper: Extending the Dexterity of a Simple, Underactuated Gripper
In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modu...
متن کاملDesign of a Variable Stiffness Soft Dexterous Gripper
This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2017
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2017.2662086