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http://dx.doi.org/10.7746/jkros.2015.10.4.193

Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects  

Choi, Jung Hyun (Robotics Research Division, DGIST)
An, Jinung (Robotics Research Division, DGIST)
Lee, Sang Mun (Robotics Research Division, DGIST)
Jang, Myeong Eon (Agency for Defense Development)
Publication Information
The Journal of Korea Robotics Society / v.10, no.4, 2015 , pp. 193-199 More about this Journal
Abstract
This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.
Keywords
Gripper; Slip; Grasping Equilibrium; Friction Limit;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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