Multi Joint Gripper with Differential Gear System

• Tamamoto Takumi

  Graduate School of Science and Technology, Tokai University

• Sayama Kazuhiro

  Graduate School of Engineering, Tokai University

• Koganezawa Koichi

  Department of Engineering, Tokai University

Bibliographic Information

Other Title

• 差動歯車機構を用いた多関節グリッパ
• サドウ ハグルマ キコウ オ モチイタ タカンセツ グリッパ

Abstract

This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. The proposed mechanism is based on a chain of Differential Gear Systems (DGS) controlled by only one motor. It also equips a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interferences suffered from external environment and to achieve a dexterous grasping. The experiments elucidated that the developed gripper achieves envelop grasping; the posture of the gripper automatically fits the shape of the object with no sensory feedback. And they also showed that the VSM effectively works to relieve external interferences. This paper shows the mechanism and experimental results of the second test machine that was developed inheriting the idea of DGS used in the first test machine but has a completely altered VSM.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 33 (9), 689-695, 2015

  The Robotics Society of Japan

Keywords

• Multi Joint
• Envelope Grasping
• Differential Gear

Details

• CRID: 1390001204729692032
• NII Article ID: 130005114140
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.33.689
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 026942425
• Web Site: http://id.ndl.go.jp/bib/026942425
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I026942425
• Web Site: https://www.jstage.jst.go.jp/article/jrsj/33/9/33_33_689/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed