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

Kohei Amano, Yukiko Iwasaki, Koki Nakabayashi, Hiroyasu Iwata

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトルRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
出版者Institute of Electrical and Electronics Engineers Inc.
ページ137-142
ページ数6
ISBN(電子版)9781538692608
DOI
出版物ステータスPublished - 2019 5 24
イベント2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
継続期間: 2019 4 142019 4 18

出版物シリーズ

名前RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Korea, Republic of
Seoul
期間19/4/1419/4/18

Fingerprint

Grippers
Jamming
End effectors
Degree of freedom
Absorbing
Absorption
Simplify
Robot
Robots

ASJC Scopus subject areas

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

これを引用

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. : 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

Development of a three-fingered jamming gripper for corresponding to the position error and shape difference. / Amano, Kohei; Iwasaki, Yukiko; Nakabayashi, Koki; Iwata, Hiroyasu.

RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 137-142 8722768 (RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics).

研究成果: Conference contribution

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. : RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics., 8722768, RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics, Institute of Electrical and Electronics Engineers Inc., pp. 137-142, 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, Korea, Republic of, 19/4/14. https://doi.org/10.1109/ROBOSOFT.2019.8722768
Amano K, Iwasaki Y, Nakabayashi K, Iwata H. Development of a three-fingered jamming gripper for corresponding to the position error and shape difference. : RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 137-142. 8722768. (RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics). https://doi.org/10.1109/ROBOSOFT.2019.8722768
Amano, Kohei ; Iwasaki, Yukiko ; Nakabayashi, Koki ; Iwata, Hiroyasu. / Development of a three-fingered jamming gripper for corresponding to the position error and shape difference. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 137-142 (RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics).
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