DocumentCode
663643
Title
The development of a scalable underactuated gripper based on flexural buckling
Author
Gwang-Pil Jung ; Useok Jeong ; Je-Sung Koh ; Kyu-Jin Cho
Author_Institution
Biorobotics Lab., Seoul Nat. Univ., Seoul, South Korea
fYear
2013
fDate
3-7 Nov. 2013
Firstpage
2077
Lastpage
2077
Abstract
In this paper, we verify the scalability of an underactuated mechanism based on flexural buckling by applying the mechanism to multi-scale adaptive grippers. For verification, we design and fabricate two grippers having different sizes and install the grippers to a manipulator. As a result, the scalability of the mechanism will be shown by grasping from small electronic parts to large wine drinking glasses.
Keywords
buckling; design engineering; dexterous manipulators; grippers; flexural buckling; manipulator; multiscale adaptive grippers; scalable underactuated gripper; underactuated mechanism scalability; wine drinking glasses; Fabrication; Fingers; Glass; Grasping; Grippers; Manipulators; Scalability;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location
Tokyo
ISSN
2153-0858
Type
conf
DOI
10.1109/IROS.2013.6696640
Filename
6696640
Link To Document