0

Full Content is available to subscribers

Subscribe/Learn More  >

Dexterous Gripper Synthesis From Modular Finger Approach

[+] Author Affiliations
Nahian Rahman, Carlo Canali, Darwin G. Caldwell, Ferdinando Cannella

Istituto Italiano di Tecnologia, Genova, Italy

Paper No. DETC2017-67708, pp. V009T07A043; 5 pages
doi:10.1115/DETC2017-67708
From:
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5823-3
  • Copyright © 2017 by ASME

abstract

Dexterous gripper requirements, such as in-hand manipulation is a capability on which human hands are unique at; numerous number of sensors, degree of freedom, adaptability to deal with plurality of object of our hand motivate the researchers to replicate these abilities in robotic grippers. Developments of gripper or grasping devices have been addressed from many perspectives: the use of materials in the gripper synthesis, such as rigid or flexible, the approach of control, use of under-actuated mechanism and so on. Mathematical formulation of grasp modeling, manipulation are also addressed; however, due to the presence non-holonomic motion, it is difficult to replicate the behaviors (achieved in model) in a physical gripper. Also, achieving skills similar to human hand urge to use soft or non rigid material in the gripper design, which is contrary to speed and precision requirements in an industrial gripper. In this dilemma, this paper addresses the problem by developing modular finger approach. The modular finger is built by two well known mechanisms, and exploiting such modular finger in different numbers in a gripper arrangement can solve many rising issues of manipulation.

Copyright © 2017 by ASME
Topics: Grippers

Figures

Tables

Interactive Graphics

Video

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

NOTE:
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