Tokyo-TECH 100 N Hand : Three-fingered eight-DOF hand with a force-magnification mechanism

Takayama, Toshio; Chiba, Yoshinori; Omata, Toru

doi:10.1109/robot.2009.5152835

Cited by 16 publications

(3 citation statements)

References 11 publications

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“…Several studies have attempted to develop robotic hands with high payloads. Takayama et al developed a robotic hand that generated a large grasping force using a force magnification mechanism [10]. Jeong et al designed a robotic hand with a large grasping force by switching the grasping mode between the force and speed modes [11].…”

Section: A Related Workmentioning

confidence: 99%

High-Payload and Self-Adaptive Robotic Hand With 1-Degree-of-Freedom Translation/Rotation Switching Mechanism

Nishimura

Muryoe

Watanabe

2023

IEEE Robot. Autom. Lett.

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This study proposes a novel robotic hand that can achieve self-adaptive grasping and a large payload (over 20 kg) with a single actuator. Accordingly, two novel mechanisms, an actuation system with self-motion switching and a self-adaptive finger with a self-locking mechanism, are installed in a 1-degreeof-freedom robotic hand. The actuation system switches the output motion from translational to rotational according to the applied external load. The finger is bent by inserting a flexible shaft inside it. Its bending posture can conform to the shape of the object owing to the flexible shaft, and the posture is fixed by a self-locking mechanism, which can be released by the rotational motion of the actuation system. This study presents a mechanical analysis of these mechanisms to achieve the desired behavior. The analysis was validated experimentally, and a robotic hand with these mechanisms were evaluated using grasping tests.

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Section: A Related Workmentioning

confidence: 99%

High-Payload and Self-Adaptive Robotic Hand With 1-Degree-of-Freedom Translation/Rotation Switching Mechanism

Nishimura

Muryoe

Watanabe

2023

IEEE Robot. Autom. Lett.

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“…These studies used a low-reduction-ratio mechanism to achieve a high-speed motion; thus, a large tip force could not be obtained. Several studies developed robotic hands to realize high-speed and highforce grasping [9] [10]. They realized these two features by switching the operation modes, i.e., the high-speed and highforce modes, using two or more motors.…”

Section: Introductionmentioning

confidence: 99%

Lightweight High-Speed and High-Force Gripper for Assembly

Nishimura

Takaki

Suzuki

et al. 2024

IEEE/ASME Trans. Mechatron.

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This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the highspeed section of the quick-return mechanism and load-sensitive continuously variable transmission mechanism are installed in the gripper. The gripper is also equipped with a self-centering function. The high grasping speed and self-centering function improve the cycle time in robotic operations. In addition, the high tip force is advantageous for stably grasping and assembling heavy objects. Moreover, the design of the gripper reduce the gripper's proportion of the manipulator's payload, thus increasing the weight of the object that can be grasped. The gripper performance was validated through kinematic and static analyses as well as experimental evaluations. This paper also presents the analysis of the self-centering function of the developed gripper.

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“…Many researchers developed mechanisms with the goal of having fast-closing fingers while also being capable of exerting large forces when needed. This type of behavior is typically obtained through the use of a mechanism that switches mode after contact to passively increase the transmission ratio (Shin et al, 2012; Spanjer et al, 2012; Takaki and Omata, 2011; Takayama et al, 2009). Some of these grippers feature great in-hand manipulation capabilities (Tadakuma et al, 2012), some of them having the ability to obtain form closure by using a great degree of adaptability in the form of reconfigurable hands (Demers and Gosselin, 2011; Quigley et al, 2014; Wei et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

Picking, grasping, or scooping small objects lying on flat surfaces: A design approach

Babin

Gosselin

2018

The International Journal of Robotics Research

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Grasping in constrained environments is, to this day, an ongoing research topic. Objects can rarely be grasped from arbitrary directions, hence the need to study the options available to grasp them. This paper proposes a gripper capable of grasping small or thin objects that cannot be directly pinch-grasped. The focus is placed on objects that lie on hard surfaces. The proposed approach uses a quasistatic method referred to as scooping while implementing a passive thumb to compensate for manipulator positioning errors. Hence, the robot arm does not need to be moved while the gripper is grasping an object, similarly to a human hand performing a precision grasp. The design approach is presented and the main design choice, namely the use of epicyclic gear trains instead of conventional revolute joints, is explained. The implementation of the proposed approach to the gripper design is shown. We explain how parallel pinch grasps and large grasping forces are achieved even though the mechanism does not follow the usual parallelogram four-bar implementation of parallel pinch mechanisms. The experimental validation of the proposed concept is then presented by picking up a set of test objects in sequence and demonstrating some variants of the method that expand on the concept.

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Tokyo-TECH 100 N Hand : Three-fingered eight-DOF hand with a force-magnification mechanism

Cited by 16 publications

References 11 publications

High-Payload and Self-Adaptive Robotic Hand With 1-Degree-of-Freedom Translation/Rotation Switching Mechanism

High-Payload and Self-Adaptive Robotic Hand With 1-Degree-of-Freedom Translation/Rotation Switching Mechanism

Lightweight High-Speed and High-Force Gripper for Assembly

Picking, grasping, or scooping small objects lying on flat surfaces: A design approach

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