Dexterous Envelope grasping with Multi-Joint Gripper

• Tamamoto Takumi

  Graduate School of Science and Technology, Tokai University

• Sayama Kazuhiro

  Graduate School of Engineering Tokai University

• Koganezawa Koichi

  Department of Mechanical Engineering, Tokai University

Abstract

The study has proposed a multi joint gripper (MJG) that achieves envelope grasping for unknown shape objects. The mechanism mainly consists of a serially connected differential gear system (DGS) controlled by only two actuators. We have developed the MJG with seven joints and succeeded the envelope grasping of various shape objects with no sensory feedback. This paper proposes the way to control the joint stiffness followed by being elucidated with some simulation studies and experiments.

Journal

• The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (0), 98-99, 2015

  The Japan Society of Mechanical Engineers

Details

• CRID: 1390282680876620032
• NII Article ID: 110010043578
• DOI: 10.1299/jsmeicam.2015.6.98
• ISSN: 24243116
• Web Site: https://www.jstage.jst.go.jp/article/jsmeicam/2015.6/0/2015.6_98/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed