Development of a three-fingered jamming gripper for corresponding to the position error and shape difference

Kohei Amano, Yukiko Iwasaki, Koki Nakabayashi, Hiroyasu Iwata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this research, we consider a small-degree-of-freedom (SDOF) end effector aimed at absorbing position error and object shape difference. The end effector that can grasp various shapes with a SDOF simplifies the control method and thus improves versatility for existing robot systems. However, the conventional SDOF end effector cannot perform precise operation as compared with high degrees of freedom, so it becomes weak against shape difference and position error of the object to be held. Therefore, in this research, we focused on 'drawing function' and 'adapting function' which are effective for error absorption and developed an end effector capable of absorbing errors by integrating them into a SDOF. We evaluated the error absorption performance of the developed integrated end effector and examined the mechanism.

Original languageEnglish
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages137-142
Number of pages6
ISBN (Electronic)9781538692608
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 2019 Apr 142019 Apr 18

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period19/4/1419/4/18

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ASJC Scopus subject areas

  • Materials Science (miscellaneous)
  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Cite this

Amano, K., Iwasaki, Y., Nakabayashi, K., & Iwata, H. (2019). Development of a three-fingered jamming gripper for corresponding to the position error and shape difference. In RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics (pp. 137-142). [8722768] (RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOSOFT.2019.8722768