The grasping force of traditional under-actuated hands can hardly be kept during grasping. It is a crucial task to improve the grasping forces of robotic hands. Changeable grasping forces unit is one of the most effective solutions. This paper proposed a linkage changeable grasping force (CGF) unit integrated with linkage under-actuation mechanism in accordance with summary of proceeding work o...

The regulation of end–effector pose of manipulators is addressed in this paper. Regarding nonredundant manipulators, we present an extension of transpose Jacobian–based regulators obtained by energy shaping, where orientation is represented by unit quaternion. Copyright © 2002 IFAC

This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configur...

Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been deve...

ABSTRACT Photonics is a field that straddles both the macro and micro worlds. It largely deals with macro-scale devices, but many of these require sub-micron-scale precision in assembly. This makes it a very interesting application domain. We describe a microgripper for microassembly of photonic devices and micro-exploration of the properties of sub-micron attachment means (such as solder and U...

In the present article, an open-loop method on the basis of Acceleration Compensation to reduce liquid surface oscillation generated during a high-speed transfer will be described. In order to suppress undesirable liquid vibration effects, a new simple and effective methodology consisting of adapting the gripper orientation is proposed. We assume that as long as there is no relative motion betw...

A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tra...

Adhesive forces become predominant in the micro world comparing to the gravity effect implying the development of new micro manipulation strategies. This paper presents the design and conception of a gripper that use the inertial principle for the release (applying a high acceleration, in the order of 10’000g) and the adhesion for catching a micro part of 50μm with the goal of precisely control...

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the endeffector. We use a dual arm robot with p...

A novel approach is presented to computing all possible grips with “contact stability” on unknown objects by means of visual parameters as input. This approach extends a previous one that obtains grips under more restrictive stability conditions. The complete application of all this grasping information is out of the scope of this paper, because requires a high level decision by means of a task...