• 한국정밀공학회지
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• 제13권8호
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• pp.128-138
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• 1996

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.