| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721824 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper, we propose a multi-fingered gripper, which is able to achieve manipulation of objects with six degrees of freedom by actuating exactly six joints. After grasping, adhesion forces, provided, e.g. by an electromagnet or a vacuum cup, ensure that the fingertips remain connected to the object to be manipulated. The resulting closed-loop mechanism, formed by the gripper and the object features a kinematic structure similar to that of parallel manipulators. Such a gripper has many advantages over existing industrial grippers, often used for simple gripping tasks, and existing mechanical hands with a complex and costly control architecture.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Marwene Nefzi, Martin Riedel, Burkhard Corves,