Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects.

ABSTRACT: This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. However, the object tends to fall when placing because it opens the f

SUBMITTER: Kakogawa A 

PROVIDER: S-EPMC7937728 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature