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

doi:10.1109/SII46433.2020.9025997

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

INF - Applied Information Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	557-562
Number of pages	6
ISBN (Electronic)	9781728166674
DOIs	https://doi.org/10.1109/SII46433.2020.9025997
Publication status	Published - 2020 Jan
Event	2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States Duration: 2020 Jan 12 → 2020 Jan 15

Publication series

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

Conference

Conference	2020 IEEE/SICE International Symposium on System Integration, SII 2020
Country	United States
City	Honolulu
Period	20/1/12 → 20/1/15

ASJC Scopus subject areas

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

Access to Document

10.1109/SII46433.2020.9025997

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Takahashi, T., Okada, Y., Kojima, S., Tadakuma, K., Watanabe, M., Takahashi, M., & Tadokoro, S. (2020). Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 557-562). [9025997] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9025997

Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs. / Takahashi, Tomoya; Okada, Yoshito; Kojima, Shotaro; Tadakuma, Kenjiro ; Watanabe, Masahiro; Takahashi, Masaki; Tadokoro, Satoshi.

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 557-562 9025997 (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takahashi, T, Okada, Y, Kojima, S, Tadakuma, K , Watanabe, M, Takahashi, M & Tadokoro, S 2020, Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs. in Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020., 9025997, Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Institute of Electrical and Electronics Engineers Inc., pp. 557-562, 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Honolulu, United States, 20/1/12. https://doi.org/10.1109/SII46433.2020.9025997

Takahashi T, Okada Y, Kojima S, Tadakuma K , Watanabe M, Takahashi M et al. Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 557-562. 9025997. (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). https://doi.org/10.1109/SII46433.2020.9025997

Takahashi, Tomoya ; Okada, Yoshito ; Kojima, Shotaro ; Tadakuma, Kenjiro ; Watanabe, Masahiro ; Takahashi, Masaki ; Tadokoro, Satoshi. / Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs. Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 557-562 (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020).

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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.",

author = "Tomoya Takahashi and Yoshito Okada and Shotaro Kojima and Kenjiro Tadakuma and Masahiro Watanabe and Masaki Takahashi and Satoshi Tadokoro",

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AU - Watanabe, Masahiro

AU - Takahashi, Masaki

AU - Tadokoro, Satoshi

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