Lightweight, High-Force Gripper Inspired by Chuck Clamping Devices

被引：5

作者：

Nishimura T. ^{[1
]}

Tennomi M. ^{[1
]}

Suzuki Y. ^{[2
]}

Tsuji T. ^{[2
]}

Watanabe T. ^{[2
]}

机构：

[1] Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa

[2] Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa

来源：

IEEE Robotics and Automation Letters | 2018年 / 3卷 / 03期

关键词：

assembly; grasping; Grippers and other end-effectors; mechanism design; underactuated robots;

D O I：

10.1109/LRA.2018.2795649

中图分类号：

学科分类号：

摘要：

In this letter, we present a novel gripper, whose design was inspired by chuck clamping devices, for transferring heavy objects and assembling parts precisely in industrial applications. The developed gripper is lightweight (0.9 kg), can manipulate heavy payloads (over 23 kgf), and can automatically align its position and posture via a grasping motion. A fingertip design criterion is presented for the position alignment, while a control strategy is presented for the posture alignment. With one actuator, this gripper realized the above features. This letter describes the mathematical analyses and experiments used to validate these key metrics. © 2016 IEEE.

引用

页码：1354 / 1361

页数：7

共 26 条

[1]

Controzzi M., Cipriani C., Carrozza M.C., Design of artificial hands: A review, The Human Hand As An Inspiration for Robot Hand Development, pp. 219-246, (2014)

[2]

Hirzinger G., Et al., A mechatronics approach to the design of lightweight arms and multifingered hands, Proc. Millenn. IEEE Int. Conf. Robot. Autom. Symp., 1, pp. 46-54, (2000)

[3]

Butterfass J., Fischer M., Grebenstein M., Haidacher S., Hirzinger G., Design and experiences with DL Rhand II, Proc. World Autom. Congr., pp. 105-109, (2004)

[4]

3-finger Adaptive Robot Gripper, (2018)

[5]

Townsend W., The BarrettHand grasper-Programmably flexible part handling and assembly, Ind. Robot, An Int. J., 27, 3, pp. 181-188, (2000)

[6]

Barret Hand BH8-282, (2018)

[7]

Shadow Dexterous Hand, (2018)

[8]

Takayama T., Chiba Y., Omata T., Tokyo-TECH 100 N hand: Threefingered eight-DOF hand with a force-magnificationmechanism, Proc. IEEE Int. Conf. Robot. Autom., pp. 593-598, (2009)

[9]

EZ Gripper Robotic Grippers, (2018)

[10]

Odhner L.U., Et al., A compliant, underactuated hand for robust manipulation, Int. J. Robot. Res., 33, 5, pp. 736-752, (2014)

← 1 2 3 →