1A2-J05 Mechanism of Robot Hand with Omni-Gripper on the Palm(Robot Hand Mechanism and Grasping Strategy (2))
Year: 2013
Type: conference-paper
Abstract: Various robot hands are studied by many researchers. Complex robot hand like a human hand can grasp awkward shape objects but need very complex control. On the other hand, simple robot hands are also developed. For example, Omni-Gripper that used torus tube. In this research, we add outer shell to Omni-Gripper and fingers to the outer shell in order to solve the problem that buckling of the gripper and use the gripper for the palm of robot hand. The shell is not simple thin cylindrical shell but that has rollers on the both ends. Through the grasping experiment, we confirmed the effectivity of outer shell and Omni-Gripper on the palm.
Authors: Takuma SONODA, Kenjiro TADAKUMA, Riichiro TADAKUMA, Mitsuru HIGASHIMORI, Makoto KANEKO
Institutions: Yamagata University, The University of Osaka
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W2721007687