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Conference Paper: Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

TitleAnalysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)
Authors
Kobayashi, AkinariYamaguchi, KengoKinugawa, JunArai, ShogoHirata, YasuhisaKosuge, Kazuhiro
Issue Date2017
Citation
IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 1937-1942 How to Cite?
DOI: http://dx.doi.org/10.1109/IROS.2017.8206012
AbstractThis study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.
Persistent Identifierhttp://hdl.handle.net/10722/302990
ISSN
2153-0858
2020 SCImago Journal Rankings: 0.597

 

DC FieldValueLanguage
dc.contributor.authorKobayashi, Akinari-
dc.contributor.authorYamaguchi, Kengo-
dc.contributor.authorKinugawa, Jun-
dc.contributor.authorArai, Shogo-
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:59Z-
dc.date.available2021-09-07T08:42:59Z-
dc.date.issued2017-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 1937-1942-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/302990-
dc.description.abstractThis study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleAnalysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2017.8206012-
dc.identifier.scopuseid_2-s2.0-85041955609-
dc.identifier.volume2017-September-
dc.identifier.spage1937-
dc.identifier.epage1942-
dc.identifier.eissn2153-0866-

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