This paper demonstrates kinematic analysis and synthesis of a novel, modular, reconfigurable gripper, which is capable to manipulate plurality of object. The gripper consists of four identical modular fingers, dexterous among all axes. Each modular finger of the gripper is conceived to the aim of satisfying efficient grasping, manipulation and also object release with accordance of desired posture. The proposed gripper has 16 DOFs, which can be reduced by decreasing the number of fingers depending on its target uses. In this paper, the in-hand manipulation capability is explained from kinematic perspective and some analysis carried through to synthesize the gripper for user specific applications.
Kinematic analysis and synthesis of a novel gripper for dexterous applications / Rahman, Nahian; Carbonari, Luca; Palpacelli, Matteo; D’Imperio, Mariapaola; Cannella, Ferdinando; Caldwell, Darwin G.. - CD-ROM. - (2016), pp. 1-6. (Intervento presentato al convegno 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016 tenutosi a The University of Auckland; Auckland; New Zealand nel August 29-31 2016) [10.1109/MESA.2016.7587167].
Kinematic analysis and synthesis of a novel gripper for dexterous applications
Carbonari, Luca;Palpacelli, Matteo;
2016-01-01
Abstract
This paper demonstrates kinematic analysis and synthesis of a novel, modular, reconfigurable gripper, which is capable to manipulate plurality of object. The gripper consists of four identical modular fingers, dexterous among all axes. Each modular finger of the gripper is conceived to the aim of satisfying efficient grasping, manipulation and also object release with accordance of desired posture. The proposed gripper has 16 DOFs, which can be reduced by decreasing the number of fingers depending on its target uses. In this paper, the in-hand manipulation capability is explained from kinematic perspective and some analysis carried through to synthesize the gripper for user specific applications.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
