Analysis of Precision Grip Force for uGRIPP (Underactuated Gripper for Power and Precision grasp)

被引：0
|
作者：
Kobayashi, Akinari [1 ]
Yamaguchi, Kengo [1 ]
Kinugawa, Jun [1 ]
Arai, Shogo [1 ]
Hirata, Yasuhisa [1 ]
Kosuge, Kazuhiro [1 ]
机构：
[1] Tohoku Univ, Grad Sch Engn, Dept Robot, Aoba Ku, 6-6-01 Aramaki Aza Aoba, Sendai, Miyagi 9808579, Japan
来源：
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2017年
关键词：
DESIGN; HAND; MECHANISMS; FINGER; ROBOTS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.
引用
收藏
页码：1929 / 1934
页数：6
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