Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs

Tomoya Takahashi, Yoshito Okada, Shotaro Kojima, Kenjiro Tadakuma, Masahiro Watanabe, Masaki Takahashi, Satoshi Tadokoro

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages557-562
Number of pages6
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - 2020 Jan
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: 2020 Jan 122020 Jan 15

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period20/1/1220/1/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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