Abstract
In order to challenge universal grasp capability beyond human hands, a pin array gripper is presented. It consists of a matrix of passively slidable pins which conform themselves to the contour of various objects. The swing motion of pins enable multiple lateral contacts with objects to provide grasp force via force-closure. Possible configurations of pin unit and dimensions of the CAD embodiment are analyzed, showing critical parameters for improving grasp performance. The feasibility of the gripper design is verified by analytical model.
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Acknowledgement
This research is supported by National Natural Science Foundation of China (No. 51575302) and Beijing Natural Science Foundation (No. J170005).
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Mo, A., Fu, H., Zhang, W. (2018). A Universal Gripper Base on Pivoted Pin Array with Chasing Tip. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_9
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DOI: https://doi.org/10.1007/978-3-319-97589-4_9
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