Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1937-1942
Number of pages6
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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