Paper Info
Title
Design Of Robotic Gripper With Constant Transmission Ratio Based On Twisted String Actuator: Concept And Evaluation
Abstract
Robotic systems for object handling and manipulation are hugely important for modern engineering and industry, with their efficiency, agility and robustness often depending on gripper design and performance. In this work, we investigate a gripper design that, when driven by a twisted string actuator, exhibits nearly-constant transmission ratio throughout its motion range. This allows for design of a highly-compact, modular and efficient robotic gripper driven by a low-power motor. We investigate kinematics of the device, experimentally verify developed models with a practical gripper testbed, and analyze transmission ratio and efficiency of the designed device. The resulting system has a nearly-constant transmission ratio of 550, with the constancy coefficient of 0.985.
Year
DOI
Venue
2018
10.1109/IROS.2018.8593794
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Kinematics,Computer science,Transmission ratio,Testbed,Control engineering,Robustness (computer science),Modular design,Object handling,Grippers,Actuator
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Simeon Nedelchev101.35
Igor Gaponov2156.69
Jee-Hwan Ryu3245.13