TY - GEN
T1 - Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs
AU - Takahashi, Tomoya
AU - Okada, Yoshito
AU - Kojima, Shotaro
AU - Tadakuma, Kenjiro
AU - Watanabe, Masahiro
AU - Takahashi, Masaki
AU - Tadokoro, Satoshi
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - A parallel gripper that can grasp an object notjust between the fingers, using the linear trajectory, but also in front of the fingers, using the curved trajectory, is proposed. With an aim to make it dust-and-waterproof, the link structure is designed to combine two mechanisms consisting of only revolute pairs, called the Chebyshev's lambda mechanism and double parallel link. The former constrains the fingertips on the trajectory and the latter always keeps the gripping face of the fingertip vertical. As a trigger of grasping motion, it is also possible to detect contact between the fingertip and grasping target on the basis of the actuators' backdrive, without any sensors on the fingertip. Kinematic analysis, control methods, and experiments with a fabricated gripper are also presented.
AB - A parallel gripper that can grasp an object notjust between the fingers, using the linear trajectory, but also in front of the fingers, using the curved trajectory, is proposed. With an aim to make it dust-and-waterproof, the link structure is designed to combine two mechanisms consisting of only revolute pairs, called the Chebyshev's lambda mechanism and double parallel link. The former constrains the fingertips on the trajectory and the latter always keeps the gripping face of the fingertip vertical. As a trigger of grasping motion, it is also possible to detect contact between the fingertip and grasping target on the basis of the actuators' backdrive, without any sensors on the fingertip. Kinematic analysis, control methods, and experiments with a fabricated gripper are also presented.
UR - http://www.scopus.com/inward/record.url?scp=85082598769&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85082598769&partnerID=8YFLogxK
U2 - 10.1109/SII46433.2020.9025997
DO - 10.1109/SII46433.2020.9025997
M3 - Conference contribution
AN - SCOPUS:85082598769
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 557
EP - 562
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -