Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects Choi, Jung Hyun; An, Jinung; Lee, Sang Mun; Jang, Myeong Eon;
This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.
Gripper;Slip;Grasping Equilibrium;Friction Limit;
Andreas Wolf, Ralf Steinmann, Henrik Schunk, "Gripper in motion", Springer, 2006.
H.-S. Yu, M.-C. Kim, J.-B. Song, "Tendon-driven Adaptive Robot Hand", Journal of Korea Robotics Society, vol. 9, no.4, pp.258-263, 2014.
Dubey, Venketesh N, and Richard M. Crowder, "A finger mechanism for adaptive end effectors", International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp.995-1001, 2002.
Y. Cho, J. Cheong, D. Kim, "Generalized Graph Representation of Tendon Driven Robot Mechanism", Journal of Korea Robotics Society, vol. 9, no.3, pp.178-184, 2014.
J. Butterfass, M. Fischer, M. Grebenstein, S. Haidacher, G. Hirzinger, "Design and experiences with DLR hand II", In Automation Congress, vol. 15, pp.105-110, 2004
S.-M. Lee, K.-D. Lee, H.-K. min, T.-S. Noh, S.-T. Kim, "Design of a Humanoid Robot-hand with MEC-Joint", Journal of Korea Robotics Society, vol. 7, no.1, pp.1-8, 2012.
Civil-military technology cooperation, "Technology development for a rescue robot capable of lifting over 120 kgf", 2013-2019.
J. Ponce, S. Sullivan, A. Sudsang, J. Boissonnat, D. Merle, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects", The International Journal of Robotics Research, vol. 16, no.1, pp.11-35, 1997.