Abstract
This paper presents a bistable finger design for grasping, with the bistability property lending itself to reconfiguration from a preferred pinch grasp to a preferred power (enveloping) grasp. This allows selective triggering of the transition between these two grasp types to prevent loss of stable grasp. Design, analysis, simulation, and prototyping of the grasping mechanism are presented.
| Original language | English (US) |
|---|---|
| Title of host publication | 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings |
| Editors | Just L. Herder, Volkert van der Wijk |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781538663806 |
| DOIs | |
| State | Published - Aug 28 2018 |
| Event | 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Netherlands Duration: Jun 20 2018 → Jun 22 2018 |
Publication series
| Name | 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings |
|---|
Other
| Other | 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 |
|---|---|
| Country | Netherlands |
| City | Delft |
| Period | 6/20/18 → 6/22/18 |
ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modeling and Simulation
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Cite this
Nelson, C. A. (2018). A Bistable Underactuated Finger with Reconfigurable Grasping Modes. In J. L. Herder, & V. van der Wijk (Eds.), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings [8449860] (2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REMAR.2018.8449860