A modular shape-adaptive mechanism for robust robotic grasping

Carl A. Nelson

doi:10.1007/978-3-319-18126-4_3

A modular shape-adaptive mechanism for robust robotic grasping

Carl A. Nelson

Mechanical & Materials Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Recent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
Editors	Marco Ceccarelli, Shaoping Bai
Publisher	Kluwer Academic Publishers
Pages	27-34
Number of pages	8
ISBN (Print)	9783319181257
DOIs	https://doi.org/10.1007/978-3-319-18126-4_3
State	Published - 2015
Event	3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 - Aalborg, Denmark Duration: Jun 2 2015 → Jun 4 2015

Publication series

Name	Mechanisms and Machine Science
Volume	33
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Other

Other	3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
Country/Territory	Denmark
City	Aalborg
Period	6/2/15 → 6/4/15

Keywords

Grasp stability
Pantograph mechanism
Robotic grasping
Underactuated grasper

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-319-18126-4_3

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

A modular shape-adaptive mechanism for robust robotic grasping. / Nelson, Carl A.
Recent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015. ed. / Marco Ceccarelli; Shaoping Bai. Kluwer Academic Publishers, 2015. p. 27-34 (Mechanisms and Machine Science; Vol. 33).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nelson, CA 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. Mechanisms and Machine Science, vol. 33, Kluwer Academic Publishers, pp. 27-34, 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015, Aalborg, Denmark, 6/2/15. https://doi.org/10.1007/978-3-319-18126-4_3

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A modular shape-adaptive mechanism for robust robotic grasping

Abstract

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Keywords

ASJC Scopus subject areas

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