Title :
Dynamic preshaping based optimum design for high speed capturing robots
Author :
Higashimori, Mitsuru ; Nishio, Shoichi ; Kaneko, Makoto
Author_Institution :
Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan
Abstract :
This paper discusses the design of high speed capturing robots based on dynamic preshaping. Focusing on a wire drive robot, we obtain an optimum pulley position so that all finger links can make contact with an object simultaneously. Based on the optimum design, we also develop the hardware so that we can confirm the validity of the optimum pulley position by experiment.
Keywords :
dexterous manipulators; grippers; manipulator dynamics; motion control; dynamic preshaping; high speed capturing robots; optimum design; optimum pulley position; wire drive robot; Actuators; Design engineering; Fingers; Hardware; Pulleys; Robot sensing systems; Systems engineering and theory; Torque; Wire; Wiring; High Speed Capturing; Mechanism Design; Preshaping; Wire Drive Robot;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545421
