A novel cluster-tube self-adaptive robot hand

Fu, Hong; Yang, Haokun; Song, Weishu; Zhang, Wenzeng

doi:10.1186/s40638-017-0082-2

Cited by 23 publications

(5 citation statements)

References 15 publications

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“…It is one of the key improvements over the prior pin array grippers. For example, the Omnigripper 27 requires that the target object located between the two ranks of pins while the cluster–tube universal gripper 28 requires the object placed at the center. The proposed elliptical pin can provide contact force at any direction, thus not discriminative to the position of objects.…”

Section: Methodsmentioning

confidence: 99%

“…However, it is in fact a two-jaw gripper, which requires the target object located between the two ranks of pins. Rather than pinching from two sides, the cluster tube universal gripper 28 developed by Fu et al bundles up pins by three flexible cables in a convergent manner. However, since all the pins swing to the center, its grasp force decreases significantly if the target object does not locate at the center of the pin array.…”

Section: Introductionmentioning

confidence: 99%

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A novel universal gripper based on meshed pin array

Zhang

2019

International Journal of Advanced Robotic Systems

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Conventional grippers are designed for specific applications. They often encounter difficulties when grasping different objects in unstructured environments. This article introduces a novel gripper to challenge the universal grasp capability. Passively slidable pins are array arranged in the gripper. By meshing of pin's elliptical contour, shape adaption to various objects is achieved in both vertical and horizontal directions using a single motor. Contact force is analyzed based on static and kinetic friction. Kinematic simulation on the grasping process reveals the interaction between critical parameters and the overall grasp performance. To conclude, a prototype pin array gripper demonstrates high adaptability to various objects in real-world testing.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel universal gripper based on meshed pin array

Zhang

2019

International Journal of Advanced Robotic Systems

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“…After that, the robot hand gathers all pins to the center of the object to provide a grasping force, as shown in Figure 3c,f. We developed the CTSA hand in the previous work [26], as shown in Figure 4. The CTSA hand has the CTSA mode.…”

Section: The Cluster-tube Self-adaptive Grasping Modementioning

confidence: 99%

“…We developed the CTSA hand in the previous work [26], as shown in Figure 4. The CTSA hand has the CTSA mode.…”

Section: Appl Sci 2019 9 X For Peer Review 4 Of 23mentioning

confidence: 99%

The Development of a Soft Robot Hand with Pin-Array Structure

Zhang

2019

Applied Sciences

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This paper proposes a soft robot hand with pin-array structure and self-adaptive function, CTSA-II hand, where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise structure and consists of bases, a pin array, a spring array, and a membrane. When the CTSA-II hand grasps an object, the pins will slide along the trajectory to conform to the profile of the object under the reaction force applied by the object, and thus the outer membrane will form a specific shape, and then the vacuum drives the CTSA-II hand to grasp the object. Theoretical analysis shows that the CTSA-II hand can generate enough grasping force and get good stability. Moreover, the optimization of its structure is achieved by studying the effects of specific parameters. The capture experimental results of the prototype show that the CTSA-II hand can realize self-adaptive grasping of different sizes and shapes with a high degree of fit and a high success rate. A series of research experiments show the influence of various factors on the grasping force, which verifies the results of the theoretical analysis with the CTSA-II hand. Compared to the traditional robot hand, the CTSA-II hand has good crawl performance, concise structure, small volume, and easy assembly.

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“…A robotic hand that uses a jamming transition and a tendon drive mechanism has also been studied 24 . A gripper mechanism with many pins that can conform to the shape of an object has been developed 25 .…”

Section: Introductionmentioning

confidence: 99%

Transformation of foldable robotic hand to scissor-like shape for pinching based on human hand movement

Ikeda,

Saeki

2023

Sci Rep

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Increasing the number of degrees of freedom for multi-finger robotic hands is necessary to achieve high performance. However, this increases structural complexity and the obtained improvement may be small. Humans change the shape of their hands by extending or bending the fingers to apply force to an object through contact with a wide surface or two or more fingers. In some cases, continuous finger movements are not necessary or some fingers do not make contact with the object. A robotic hand with a small number of degrees of freedom could effectively use its fingers to perform many tasks by properly arranging the fingers, increasing the movable range of joints, and utilizing the back and sides of the fingers. This paper proposes a hand system and conducts a theoretical analysis of the transformation of the hand shape into a scissor-like motion to handle a cylindrical object. It is found that the scissor-like motion is unsuitable for cylindrical objects that exceed a certain size. Experiments show the effectiveness of the proposed hand system. The correlation between the contact position of a finger with an object and the success ratio of pinching is demonstrated. Furthermore, a control system that can switch from pinching to grasping when the robot judges that pinching is difficult is developed and experimentally validated.

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A novel cluster-tube self-adaptive robot hand

Cited by 23 publications

References 15 publications

A novel universal gripper based on meshed pin array

A novel universal gripper based on meshed pin array

The Development of a Soft Robot Hand with Pin-Array Structure

Transformation of foldable robotic hand to scissor-like shape for pinching based on human hand movement

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