(89)90074-4Ĭrowder, R.M.: An anthropomorphic robotic end effector. Rakić, M.: Multifingered robot hand with selfadaptability. In IEEE International Conference on Robotics and Automation, 2004. Luo, M., Mei, T., Wang, X., Yu, Y.: Grasp characteristics of an underactuated robot hand. In International Conference on Advanced Robotics, pp. Hirose, S.: Connected differential mechanism and its applications. īirglen, L., Gosselin, C.M.: Force Analysis of Connected Differential Mechanisms: Application to Grasping. Piazza, C., Grioli, G., Catalano, M.G., Bicchi, A.: A Century of Robotic Hands. Finally, validation is done by executing object grasping on common household objects using an industrial robot fitted with the developed gripper. Further, optimisation is used to improve the design of the adaptive gripper and the optimised gripper has been developed using 3D printing. The proposed actuation mechanism is based on movable pulleys and tendon wires which ensure that once a link stops moving, the other links continue to move and wrap around the object. Designing of the proposed gripper is focused on ensuring a stable grasp on a wide variety of objects, especially, lightweight objects (e.g., empty plastic bottles). The finger closing sequence in adaptive grippers may lead to ejection of the object from the gripper due to any unbalanced grasping force and such grasp failure is common for lightweight objects. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. In this paper, the design and development of an adaptive gripper are presented.
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