Multi-joint gripper with stiffness adjuster

Abstract

This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. Proposed mechanism is based on a chain of Gear Systems controlled by only one motor. It also has a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interfering effects suffered from grasping environment and achieve a dexterous grasping. The experiments elucidate that the developed gripper achieves envelop grasping; the posture of the gripper automatically fits the shape of the object with no sensory feedback. And they also show that the VSM effectively works to relieve external interfering. This paper shows the detail of the mechanism and the experiments of its motion.

Dynamic Modeling of a Serial Link Robot Laminated with Plastic Film

“…To simplify the mathematical model of the contact force between the fin and the plastic film, we introduce a penalty method [42]. The penalty method treats elasticity and damping force for slight penetration between two objects.…”