Grasping and control issues in adaptive end effectors

This source preferred by Venky Dubey

Authors: Dubey, V.N. and Crowder, R.M.

http://eprints.bournemouth.ac.uk/10722/

Start date: 28 September 2004

Pages: 327-335

Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments.

This data was imported from Scopus:

Authors: Dubey, V.N. and Crowder, R.M.

http://eprints.bournemouth.ac.uk/10722/

Journal: Proceedings of the ASME Design Engineering Technical Conference

Volume: 2 A

Pages: 327-335

Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments.

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