Paper Info
Title
Compact Hand with Passive Grasping
Abstract
As robots are tasked with increasingly diverse requirements, the grasping and manipulation of unknown objects will become ever more important. Thus, end effectors should be able to grasp the widest possible range of object shapes and sizes. Previously, we showed the grasping potential of a self-sealing suction cup array for solving this problem. In this work, we show an improved design for the cup, which is both smaller and more robust. Seal quality and force-displacement data are presented for this new design. We also show the design of a sample three-finger hand in which embedded shape memory alloy (SMA) wires actuate the individual fingers comprising the self-sealing suction cup arrays. Force and range of motion data are also presented. Finally, we demonstrate the ability to grasp and release a soccer ball using the three-finger hand attached to the PA-10 robot manipulator.
Year
DOI
Venue
2014
10.1007/978-3-319-23778-7_9
Springer Tracts in Advanced Robotics
Keywords
Field
DocType
Grasping,Unknown object,Suction,Shape memory alloy
SMA*,GRASP,Simulation,Suction cup,Robot end effector,Shape-memory alloy,Engineering,Robot,Robot manipulator,Suction
Conference
Volume
ISSN
Citations 
109
1610-7438
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Chad C. Kessens1102.30
Jaydev P. Desai21113301.60