{"title":"多自由度自适应柔性驱动机器人夹持器的设计","authors":"Li-Wei Cheng, J. Chang","doi":"10.1109/ICSSE.2018.8519990","DOIUrl":null,"url":null,"abstract":"With rapid development of assistive technologies, robots have been adopted to assist impaired persons to perform daily functions. To increase functionality of robotic arm in grasping, a universal robotic gripper consists of multiple degrees of freedom (DOF) is proposed and examined in this paper. Through modelling, simulation, and mechatronics integration, the proposed gripper design is validated to be able to morph its shape to adapt objects with various shapes. Compliance of the gripper in grasping is also validated, which can increase the safety should it be included in assistive devices.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design of a Multiple Degrees of Freedom Robotic Gripper for Adaptive Compliant Actuation\",\"authors\":\"Li-Wei Cheng, J. Chang\",\"doi\":\"10.1109/ICSSE.2018.8519990\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"With rapid development of assistive technologies, robots have been adopted to assist impaired persons to perform daily functions. To increase functionality of robotic arm in grasping, a universal robotic gripper consists of multiple degrees of freedom (DOF) is proposed and examined in this paper. Through modelling, simulation, and mechatronics integration, the proposed gripper design is validated to be able to morph its shape to adapt objects with various shapes. Compliance of the gripper in grasping is also validated, which can increase the safety should it be included in assistive devices.\",\"PeriodicalId\":431387,\"journal\":{\"name\":\"2018 International Conference on System Science and Engineering (ICSSE)\",\"volume\":\"40 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Conference on System Science and Engineering (ICSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSSE.2018.8519990\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on System Science and Engineering (ICSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSE.2018.8519990","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of a Multiple Degrees of Freedom Robotic Gripper for Adaptive Compliant Actuation
With rapid development of assistive technologies, robots have been adopted to assist impaired persons to perform daily functions. To increase functionality of robotic arm in grasping, a universal robotic gripper consists of multiple degrees of freedom (DOF) is proposed and examined in this paper. Through modelling, simulation, and mechatronics integration, the proposed gripper design is validated to be able to morph its shape to adapt objects with various shapes. Compliance of the gripper in grasping is also validated, which can increase the safety should it be included in assistive devices.
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