Two-finger Multi-DOF Folding Robot Grippers

Maxwell Samuels; Lu Lu; Cong Wang

doi:10.1016/j.ifacol.2022.10.491

Two-finger Multi-DOF Folding Robot Grippers

Maxwell Samuels, Lu Lu, Cong Wang

Research output: Contribution to journal › Conference article › peer-review

2 Scopus citations

Abstract

Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.

Original language	English (US)
Pages (from-to)	76-81
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	27
DOIs	https://doi.org/10.1016/j.ifacol.2022.10.491
State	Published - Sep 1 2022
Event	9th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2022 - Los Angeles, United States Duration: Sep 6 2022 → Sep 9 2022

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Keywords

Mechanisms
Object Manipulation
Robot Grippers
Robot Hands
Tubular Robots

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10.1016/j.ifacol.2022.10.491

Cite this

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title = "Two-finger Multi-DOF Folding Robot Grippers",

abstract = "Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.",

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T1 - Two-finger Multi-DOF Folding Robot Grippers

AU - Samuels, Maxwell

AU - Lu, Lu

AU - Wang, Cong

PY - 2022/9/1

Y1 - 2022/9/1

N2 - Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.

AB - Two-finger robot grippers are widely used in various applications. Most conventional designs have a single degree of freedom (DOF). Other than open-and-close, they do not offer additional manipulation ability. Meanwhile, multi-finger high-DOF hands face cost and reliability issues. This paper presents three- and four-DOF linkage mechanisms to design robot grippers that can conduct two-finger twisting and rolling. Kinematics of the linkage mechanisms is studied. Tendon drives are designed so that the robot grippers can be used on tubular robots. A folding mechanism is proposed to help the gripper go through small entrances and narrow passages. Measures that help with miniaturization are discussed, providing opportunities in certain applications such as minimally invasive surgeries. Several advanced design concepts are also discussed for increasing the potentials of the robot grippers.

KW - Mechanisms

KW - Object Manipulation

KW - Robot Grippers

KW - Robot Hands

KW - Tubular Robots

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DO - 10.1016/j.ifacol.2022.10.491

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ER -

Two-finger Multi-DOF Folding Robot Grippers

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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