Full Content is available to subscribers

Subscribe/Learn More  >

Development of Multi Joint Gripper That Achieves Transition From Pinching to Envelope Grasping With Simple Control

[+] Author Affiliations
Takumi Tamamoto

Toyama Prefectural University, Toyama, Japan

Soichiro Nomura, Keita Takeuchi, Koichi Koganezawa

Tokai University, Kanagawa, Japan

Paper No. DETC2017-67666, pp. V05BT08A013; 6 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5818-9
  • Copyright © 2017 by ASME


This study proposes a Multi Joint Gripper (MJG) that achieves envelope grasping for unknown shape objects with simple control. In our previous study we have developed the MJG having a number of multi joint fingers. Each finger has back drivability with Variable Stiffness Mechanism (VSM) for adjusting the stiffness of joints. The MJG succeeded envelope grasping of various shape objects with no sensory feedback. We have also showed the MJG is able to handle objects by pinching with the finger tips and to shift into an envelope grasping. However, in some tasks requiring transition from pinching to envelope grasping, it occasionally failed because of difference of mode setting between pinching and grasping. In this paper, we discuss the pinching motion and the transition from pinching to envelope grasping. The finger mechanism we have proposed is mainly composed of a serially connected Differential Gear System (DGS), and it is controlled by only two actuators. One for driving all of the joints simultaneously and the other for VSM of every joints all together. We propose a novel mechanism for transition from pinching to envelope grasping , which requires no change of mechanical mode setting of the DGS. The experiments revealed that the MJG successfully achieves transition from pinching to envelope grasping with very simple control.

Copyright © 2017 by ASME
Topics: Grasping , Grippers



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In