ROBIO 2016: Underactuated Modular Gripper with Pull-in Mechanism 2

Most existing robotic grippers do not have an infinite rotating mechanism. However, this movement has the potential for industrial applications such as pulling in and pushing out an object from the plane. Increasing functionality tends to lead to more operational difficulties. Therefore, we have developed a three-fingered underactuated gripper that not only grasps but also pulls in the object by using only a SINGLE actuator. We have described the design of a modular underactuated finger and a differential mechanism for the same. To test the grasping and underactuated object-pulling-in capabilities of the gripper, we conducted experiments with objects of various shapes. Published in: 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) Date of Conference: 3-7 Dec. 2016 Date Added to IEEE Xplore: 02 March 2017 INSPEC Accession Number: 16722684 DOI: Publisher: IEEE Lab website #Ritsumeikan #Robot