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http://dx.doi.org/10.21289/KSIC.2022.25.2.185

Noble Development of Array Type Gripper for Robot Arm  

Lee, Jaeman (Graduate School IT Convergence and Electronics Eng. Hansei University)
Lee, Wangheon (Dept. of Computer Eng. Hansei University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.25, no.2_1, 2022 , pp. 185-193 More about this Journal
Abstract
For grippers of industrial robots, parallel grippers and multi-function finger grippers are used. The former has the advantage of low cost but has the disadvantage of low precision, and the latter has the advantage of excellent precision but has the disadvantage of being expensive. In this paper, we developed a grip that can detects the various shapes of the object to be gripped on the gripper surface by using mesured pressure information frome Veloset Sheet sensor so that the gripper can be gripped without deforming the surface of the gripper. Also we did not only developed the array type gripper and 4 array type grippers (ATG), but also confirmed the usefulness of array type gripper developed in this study according to the 4 predefined evaluation criteria
Keywords
Noble; Array Type; Gripper; Contact Force Measurent; Finfer Array Cell(FAC);
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Times Cited By KSCI : 2  (Citation Analysis)
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