A Universal Gripper Base on Pivoted Pin Array with Chasing Tip

Mo, An; Fu, Hong; Zhang, Wenzeng

doi:10.1007/978-3-319-97589-4_9

Cited by 7 publications

(4 citation statements)

References 16 publications

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“…Among the research on adaptive fixture design, pin array mechanism is a relatively new research field. Mo et al presented a pivoted pin array gripper in 2018 [11][12]. P. Fromm focuses on the gripper design based pin array mechanism [13].…”

Section: Pin Array Fixture Mechanismmentioning

confidence: 99%

Development of a shape-memorable adaptive pin array fixture

Shi

Nagata

et al. 2021

Advanced Robotics

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This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of pin array to fix multiple different shaped parts with common pin configuration. The clamping area consists of a matrix of passively slid-able pins that conform themselves to the contour of the target object. Vertical motion of the pins enables the fixture to encase the profile of the object. The shape memorable mechanism is realized by the combination of the rubber bush and fixing mechanism of a pin. Several physical peg-in-hole tasks is conducted to verify the feasibility of the fixture.

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Section: Pin Array Fixture Mechanismmentioning

confidence: 99%

Development of a shape-memorable adaptive pin array fixture

Shi

Nagata

et al. 2021

Advanced Robotics

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“…This also maximizes specific grasp quality measures, extracting more robust and stable grasps. The hyper-adaptive finger-pads rely on a pin array design, similar to the design presented by (Flintoff et al, 2018; Mo et al, 2018). With these simple elastic modules, high deformation and ability to conform to the object shape are achieved.…”

Section: Introductionmentioning

confidence: 99%

On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands

et al. 2019

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Adaptive robot hands are typically created by introducing structural compliance either in their joints (e.g., implementation of flexures joints) or in their finger-pads. In this paper, we present a series of alternative uses of structural compliance for the development of simple, adaptive, compliant and/or under-actuated robot grippers and hands that can efficiently and robustly execute a variety of grasping and dexterous, in-hand manipulation tasks. The proposed designs utilize only one actuator per finger to control multiple degrees of freedom and they retain the superior grasping capabilities of the adaptive grasping mechanisms even under significant object pose or other environmental uncertainties. More specifically, in this work, we introduce, discuss, and evaluate: (a) a design of pre-shaped, compliant robot fingers that adapts/conforms to the object geometry, (b) a hyper-adaptive finger-pad design that maximizes the area of the contact patches between the hand and the object, maximizing also grasp stability, and (c) a design that executes compliance adjustable manipulation tasks that can be predetermined by tuning the in-series compliance of the tendon routing system and by appropriately selecting the imposed tendon loads. The grippers are experimentally tested and their efficiency is validated using three different types of tests: (i) grasping tests that involve different everyday objects, (ii) grasp quality tests that estimate the contact area between the grippers and the objects grasped, and (iii) dexterous, in-hand manipulation experiments to evaluate the manipulation capabilities of the Compliance Adjustable Manipulation (CAM) hand. The devices employ mechanical adaptability to facilitate and simplify the efficient execution of robust grasping and dexterous, in-hand manipulation tasks.

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“…Due to its high flexibility, self-adaptive underactuated finger has been adapted in many robot hands, such as SARAH hand (Luo et al, 2005) LARM hand (Wu and Ceccarelli, 2009), GR2 gripper (Rojas et al, 2016), the hands by KIST (Cho et al, 2009;Choi et al, 2006) and the hand used on HRP-3P (Kaneko et al, 2007). More than this, some selfadaptive robot hands even break the restrictions of traditional structure of human hand, for example, the universal gripper with a spherical structure (Okatani et al, 2014) the pin array self-adaptive gripper (Mo et al, 2018) and the SSA gripper (Zhu et al, 2016). These hands are well fitted to the target objects in grasping.…”

Section: Introductionmentioning

confidence: 99%

A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism

Liu

Zhang

Sun

2019

Self Cite

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Purpose Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger. Design/methodology/approach CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.

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A Universal Gripper Base on Pivoted Pin Array with Chasing Tip

Cited by 7 publications

References 16 publications

Development of a shape-memorable adaptive pin array fixture

Development of a shape-memorable adaptive pin array fixture

On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands

A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism

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