Design and analysis of a novel robotic gripper integrated with a three-phalanx finger

Lee, Wei-chen; Wu, Chih-Wei

doi:10.1177/0954406213511422

Cited by 5 publications

(6 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The gripper ranges 85 mm for cylindrical and spherical objects like a cup, tennis ball, small box, etc. Moreover, the material of the gripper is ABS and can hold 43 N. Lastly, the design and analysis of a novel robotic gripper integrated with a three-phalanx finger for medical applications are shown in [62]. The mechanism works like two grippers in one, a small one for grasping small objects (the embedded one) (Figure 36) and a bigger one for handling wide items.…”

Section: Rigid Linksmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

View full text Add to dashboard Cite

Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.

show abstract

Section: Rigid Linksmentioning

confidence: 99%

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Figure 10 shows a general static grasp model that is driven by the equivalent joint driving forces. On the basis of equation (14), the equivalent joint driving forces can be obtained as…”

Section: General Static Grasping Forces Equivalent Of Tp Transmissionmentioning

confidence: 99%

“…Underactuated mechanism has been widely used in linkages, 1 gears, [2][3][4] tendons, [5][6][7] and pneumatics hand. 8,9 Many UA hands, such as TBM hand, 10 SARAH hand, 11 SDM hand, 12 LARM hand 13 and others, 14,15 have been developed. Underactuated hands are also called shape adaptive grippers, 16 which provide a simple way to envelop an object with a reduced number of actuators and without complex control strategies.…”

Section: Introductionmentioning

confidence: 99%

Self-adaptive grasp analysis of a novel under-actuated cable-truss robotic finger

Qiao

Guo

Liu

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This paper presents the self-adaptive grasp of a novel cable-driven finger, which is an underactuated finger comprising cable-truss units. The underactuated cable-truss finger uses tendon-pulley transmission and parallel four-linkage mechanism to realize grasps. The working principle of the underactuated cable-truss finger and the self-adaptation at the grasp-closing stage are introduced. A self-adaptive grasping model is constructed to analyze the self-adaptation, and a new analysis method that considers the position and posture of grasping point in distal phalange is proposed. A new generalized coordinate, which directly shows the contacting position and the relative angular displacement in the distal phalange, is established. The expression of general static grasping force is established by using the virtual work principle, which reveals the relationship among the driving force, the equivalent torques on joints and the grasping forces. The workspace of the underactuated cable-truss finger and distributions of grasping force in new generalized coordinate are assessed through numerical analysis. The balance conditions of the self-adaptive grasp and the corresponding statuses are theoretically illustrated. Valid and adequate self-adaptive grasping experiments are conducted to verify the accuracy of self-adaptive grasping analysis.

show abstract

“…This feature enables it to adapt to a wide variety of objects without a complex control structure [2], [3]. However, it also makes the standard analytics method [4] fail to describe the manipulation.…”

Section: Introductionmentioning

confidence: 98%

An under-actuated manipulation controller based on Workspace Analysis and Gaussian Processes

Zhang

Xiang

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

The kinematic modelling has been applied to many controllers of under-actuated manipulators. Most of these studies assume that the control process is conducted within the workspace. However, as such a kinematic model cannot describe the situations when the stable grasping is violated in the real environment, these controllers may fail unexpectedly. In this paper, we propose a combination of kinematics based Workspace Analysis (WA) and Gaussian Process Classification (GPC) to model the success rates of control actions in the theoretical workspace. We also use the Gaussian Process Regression (GPR) to model the residual between the prediction of the WA and the ground truth data. We then apply this integrated model, Gaussian Processes enhanced Workspace Analysis (GP-WA), into an optimal controller. The optimal controller is implemented on a planar under-actuated gripper with two three-phalanx fingers. Two sets of simulation experiments are carried out to validate our method. The results demonstrate that the optimal manipulation controller based on GP-WA achieves high control accuracy for manipulating a wide range of objects.

show abstract

Design and analysis of a novel robotic gripper integrated with a three-phalanx finger

Cited by 5 publications

References 10 publications

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Self-adaptive grasp analysis of a novel under-actuated cable-truss robotic finger

An under-actuated manipulation controller based on Workspace Analysis and Gaussian Processes

Contact Info

Product

Resources

About