A modular shape-adaptive mechanism for robust robotic grasping

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

1 Scopus citations

Abstract

Underactuated and adaptive robotic hands are known for their ability to achieve multiple contact points on arbitrarily shaped objects with relatively simple actuation, improving grasp stability. However, in some cases the sequence in which these contact points are initiated does not promote robust capture of the grasped object. This paper presents the design of a new type of underactuated grasper based on an asymmetric pantograph structure. The new grasper achieves robust enveloping capture of arbitrarily shaped objects (including non-convex shapes) while maintaining balanced forces at multiple contact points. The design is easily adjustable for differently sized objects.

Original languageEnglish (US)
Title of host publicationRecent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
EditorsMarco Ceccarelli, Shaoping Bai
PublisherKluwer Academic Publishers
Pages27-34
Number of pages8
ISBN (Print)9783319181257
DOIs
StatePublished - Jan 1 2015
Event3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 - Aalborg, Denmark
Duration: Jun 2 2015Jun 4 2015

Publication series

NameMechanisms and Machine Science
Volume33
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
CountryDenmark
CityAalborg
Period6/2/156/4/15

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Keywords

  • Grasp stability
  • Pantograph mechanism
  • Robotic grasping
  • Underactuated grasper

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Nelson, C. A. (2015). A modular shape-adaptive mechanism for robust robotic grasping. In M. Ceccarelli, & S. Bai (Eds.), Recent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 (pp. 27-34). (Mechanisms and Machine Science; Vol. 33). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-18126-4_3