Design and Analysis of Underactuated Robotic Gripper with Adaptive Fingers for Objects Grasping Tasks
文献类型：会议论文
| 作者 | Bin Gao; Shuai Yang; Haiyang Jin; Ying Hu; Xiaojun Yang; Jianwei Zhang |
| 出版日期 | 2016 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议地点 | 青岛 |
| 英文摘要 | Abstract—The ability of the underactuated adaptive gripper is to envelop the objects according to its geometric shapes. It is known that robotic grippers are a nonlinear system, and it is difficult to set up an appropriate mathematical model, so it is hard to execute a precise control. In this paper, an underactuated gripper with two adaptive fingers is presented, and a Copley servo controller (Accelnet Micro Panel, Copley Corp) is applied to the gripper for controlling its input displacement. In order to adaption and simplification of the gripper, an adaptive finger mechanism is proposed in this paper. An underactuated gripper with two adaptive fingers with the underactuated structure is designed. There are three degrees of freedom in each finger with only one motor to drive it. The performance analysis and grasping experiments present that the proposed underactuated gripper has the capacity of enveloping objects with different shapes and sizes, and it can achieve the power grasp and precision grasp like a human hand. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10056]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Bin Gao,Shuai Yang,Haiyang Jin,et al. Design and Analysis of Underactuated Robotic Gripper with Adaptive Fingers for Objects Grasping Tasks[C]. 见:IEEE International Conference on Robotics and Biomimetics. 青岛. |
入库方式： OAI收割
来源：深圳先进技术研究院
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