PT Unknown
AU Petković, D
   Pavlović, ND
AU 10. Kolloquium Getriebetechnik : Technische Universität Ilmenau, 11. - 13. September 2013
TI Compliant multi-fingered adaptive robotic gripper
SE 10. Kolloquium Getriebetechnik: Technische Universität Ilmenau, 11. - 13. September 2013
PD July
PY 2013
BP 409
EP 418
VL 2
PU <Ilmenau>|Universitätsverlag Ilmenau
WP https://www.db-thueringen.de/receive/dbt_mods_00031920
LA de
DE Getriebetechnik
SN 978-3-86360-065-5
SN 2194-9476
AB Passively compliant underactuated mechanisms are one way to obtain the finger which could accommodate to any irregular shaped and sensitive grasping object. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents design of the adaptive underactuated compliant multi-fingered gripper with distributed compliance. The optimal topology of the finger structure was obtained by an iterative optimization procedure. It was proven that for real robotic applications multi-fingered grippers with three or more fingers were more suitable for stable and safe grasping.
PI Ilmenau
ER