TY - JOUR
T1 - A Reconfigurable Underactuated Grasper with In-hand Manipulation
AU - Nelson, Carl A.
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - One of the hallmarks of a dexterous robotic hand is the ability to perform in-hand manipulation (i.e., without re-grasping). In the field of robotic hand design, however, there are competing interests between dexterity, simplicity, and reconfigurability. It can be difficult to achieve all of these objectives simultaneously. This paper presents the design of a simple underactuated grasper which uses a gimbal and parallelogram mechanism to achieve in-hand manipulation while maintaining grasp. The new grasper also integrates elements which make it reconfigurable or metamorphic, and is readily adapted for different types of robotic fingers.
AB - One of the hallmarks of a dexterous robotic hand is the ability to perform in-hand manipulation (i.e., without re-grasping). In the field of robotic hand design, however, there are competing interests between dexterity, simplicity, and reconfigurability. It can be difficult to achieve all of these objectives simultaneously. This paper presents the design of a simple underactuated grasper which uses a gimbal and parallelogram mechanism to achieve in-hand manipulation while maintaining grasp. The new grasper also integrates elements which make it reconfigurable or metamorphic, and is readily adapted for different types of robotic fingers.
KW - In-hand manipulation
KW - Robotic grasping
KW - Underactuated grasper
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U2 - 10.1007/978-3-030-75271-2_16
DO - 10.1007/978-3-030-75271-2_16
M3 - Article
AN - SCOPUS:85105683548
SN - 2211-0984
VL - 103
SP - 151
EP - 158
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -