A Posture Planning Method in Clustered Synergy Subspace for HIT/DLR Hand II

Jiang, Li; Liu, Bingchen; Fan, Shaowei; Hong, Liu

doi:10.1007/978-3-030-27529-7_12

Cited by 2 publications

(1 citation statement)

References 12 publications

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“…Improving the reliability and efficiency of grippers is one of research hotspots. Many kind of hands was proposed such as BH-4Hand (Guo et al 2007), UBH-3 Hand (Lotti et al 2004), HIT/DLR Hand (Jiang et al 2019). Hao et al reported a flexible four-finger gripper with low cost that can grasp objects from 2 mm-170 mm (Hao et al 2018).…”

Section: Introductionmentioning

confidence: 99%

A novel bionic gripper based on the front tarsi of scutigers

Cong

Shi

Xiong

et al. 2022

Trans. Can. Soc. Mech. Eng.

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A novel bionic gripper with bristles is designed based on the biological structure of the front tarsi of scutigers, and its simulation model is established. It was verified that the proposed bionic gripper not only achieved the expected gripping action but also completed the pinching motion with better grasping performance. Related parameters, such as displacement, velocity, acceleration, force, and torque, were also analyzed. Friction contact finite element analysis of the bionic gripper with bristle structure was performed using ABAQUS and compared with the control group. The finite element analysis results showed that the bristles could effectively improve the capture efficiency of the bionic gripper. The diameter and density of the bristles in the bionic gripper were optimized, and their influence on the gripping efficiency was analyzed. This study provides a reference for the structural design of bionic grippers and the practical application of bionic non-smooth surfaces.

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