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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ557-562
ページ数6
ISBN(電子版)9781728166674
DOI
出版ステータスPublished - 2020 1
イベント2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
継続期間: 2020 1 122020 1 15

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 生体医工学
  • 制御およびシステム工学
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 器械工学

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