Relevant bibliographies by topics / Three-Finger Gripper

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Three-Finger Gripper'

Author: Grafiati
Published: 4 June 2021
Last updated: 10 February 2022

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Journal articles on the topic "Three-Finger Gripper"

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Kang, Long, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, and Byung-Ju Yi. "Design and Implementation of a Multi-Function Gripper for Grasping General Objects." Applied Sciences 9, no. 24 (December 4, 2019): 5266. http://dx.doi.org/10.3390/app9245266.

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The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments. The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is used to grasp objects in narrow spaces and cluttered environments. The combination of the suction and traditional linkage-driven grippers allows stable and reliable grasping under different working environments. Finally, practical experiments using a wide range of objects and under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
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Liu, Mingfang, Lina Hao, Wei Zhang, and Zhirui Zhao. "A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090781. http://dx.doi.org/10.1177/1729881420907813.

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Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers. The main limitations of such systems are small grasping force resulted from properties of soft actuators and lacking variable stiffness of soft robotic grippers, which prevent them from a larger wide range of applications. This article proposes a shape-memory alloy (SMA)-based soft gripper with variable stiffness composed of three robotic fingers for grasping compliantly at low stiffness and holding robustly at high stiffness. Each robotic finger mainly consisted of stiff parts and two variable stiffness joints is installed on the base with a specific angle. The paraffin as a variable stiffness material in the joint can be heated or cooled to change the stiffness of the robotic fingers. Results of experiments have shown that a single robotic finger can approximately achieve 18-fold stiffness enhancement. Each finger with two joints can actively achieve multiple postures by both changing the corresponding stiffness of joints and actuating the SMA wire. Based on these principles, the gripper can be applied to grasp objects with different shapes and a large range of weights, and the maximum grasping force of the gripper is increased to about 10 times using the variable stiffness joints. The final experiment is conducted to validate variable stiffness of the proposed soft grippers grasping an object.
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Staretu, Ionel, and Sebastian Jitariu. "Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis, and Simulation." Applied Mechanics and Materials 762 (May 2015): 75–82. http://dx.doi.org/10.4028/www.scientific.net/amm.762.75.

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This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.
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Pham, D. T., and M. J. Nategh. "Optimum design of gripper jaws for tapered components." Robotica 8, no. 3 (July 1990): 223–30. http://dx.doi.org/10.1017/s0263574700000084.

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SUMMARYFor ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of v-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.
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Lee, Wei-chen, and Chih-Wei Wu. "Design and analysis of a novel robotic gripper integrated with a three-phalanx finger." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 10 (November 11, 2013): 1786–96. http://dx.doi.org/10.1177/0954406213511422.

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The paper describes the development of an innovative robotic gripper. To increase grasping stability without using too much space or causing control complexity, a three-phalanx underactuated finger is embedded in the gripper. This research mainly focuses on the mechanical design, kinematic, and static analyses of the robotic gripper. The results obtained through both simulation and experiments show good correlation with the analytical results. The preliminary experimental grasping results demonstrate that this robotic gripper with an embedded finger can successfully perform various activities of daily living.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.

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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Kaviyarasan, S., and I. Infanta Mary Priya. "Design and fabrication of three finger adaptive gripper." IOP Conference Series: Materials Science and Engineering 402 (September 20, 2018): 012043. http://dx.doi.org/10.1088/1757-899x/402/1/012043.

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Dilibal, Savas, Ertan Guner, and Nizami Akturk. "Three-finger SMA robot hand and its practical analysis." Robotica 20, no. 2 (March 2002): 175–80. http://dx.doi.org/10.1017/s0263574701003757.

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Gripping of different types of objects with a multi-finger robot hand is a vital task for robot arms. Grippers, which are end effector elements in robot applications, are employed in various industrial operations such as transferring, assembling, welding and painting. However, if a gripper is considered for handling different jobs or to carry different types of parts in an assembly line, a general-purpose robot hand is going to be required. There are various technological actuators of robot hands such as electrical, hydraulic and pneumatic motors, etc. Besides these conventional actuators, it is possible to include Shape Memory Alloys (SMA) in the category of technological actuators. The SMA can give materials motion by moving to a predetermined position, at a specific temperature. The conversion of this motion to a gripping action of the robot hand is the heart of the matter. In this study, a robot hand is developed using Ni-Ti SMA and a set of experiments were performed in order to check the compatibility of the system in an industrial environment.
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Batsuren, Khulan, and Dongwon Yun. "Soft Robotic Gripper with Chambered Fingers for Performing In-Hand Manipulation." Applied Sciences 9, no. 15 (July 24, 2019): 2967. http://dx.doi.org/10.3390/app9152967.

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In this work, we present a soft robotic gripper for grasping various objects by mimicking in-hand manipulation. The soft robotic gripper consists of three fingers. Each finger contains three air chambers: Two chambers (side chambers) for twisting in two different directions and one chamber (middle chamber) for grasping. The combination of these air chambers makes it possible to grasp an object and rotate it. We fabricated the soft finger using 3D-printed molds. We used the finite element method (FEM) method to design the most effective model, and later these results were compared with results from experiments. The combined experimental results were used to control the range of movement of the whole gripper. The gripper could grasp objects weighing from 4 g to 300 g just by inflating the middle chamber, and when air pressure was subsequently applied to one of the side chambers, the gripper could twist the object by 35°.
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Melchiorri, C., and G. Vassura. "Design of a Three-Finger Gripper for Intra-Vehicular Robotic Manipulation." IFAC Proceedings Volumes 31, no. 33 (October 1998): 7–12. http://dx.doi.org/10.1016/s1474-6670(17)38379-9.

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Dissertations / Theses on the topic "Three-Finger Gripper"

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Yun, Kwan Soo. "A novel three-finger IPMC gripper for microscale applications." Texas A&M University, 2003. http://hdl.handle.net/1969.1/5792.

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Smart materials have been widely used for control actuation. A robotic hand can be equipped with artificial tendons and sensors for the operation of its various joints mimicking human-hand motions. The motors in the robotic hand could be replaced with novel electroactive-polymer (EAP) actuators. In the three-finger gripper proposed in this paper, each finger can be actuated individually so that dexterous handling is possible, allowing precise manipulation. In this dissertation, a microscale position-control system using a novel EAP is presented. A third-order model was developed based on the system identification of the EAP actuator with an AutoRegresive Moving Average with eXogenous input (ARMAX) method using a chirp signal input from 0.01 Hz to 1 Hz limited to 7 ± V. With the developed plant model, a digital PID (proportional-integral-derivative) controller was designed with an integrator anti-windup scheme. Test results on macro (0.8-mm) and micro (50-μm) step responses of the EAP actuator are provided in this dissertation and its position tracking capability is demonstrated. The overshoot decreased from 79.7% to 37.1%, and the control effort decreased by 16.3%. The settling time decreased from 1.79 s to 1.61 s. The controller with the anti-windup scheme effectively reduced the degradation in the system performance due to actuator saturation. EAP microgrippers based on the control scheme presented in this paper will have significant applications including picking-and-placing micro-sized objects or as medical instruments. To develop model-based control laws, we introduced an approximated linear model that represents the electromechanical behavior of the gripper fingers. Several chirp voltage signal inputs were applied to excite the IPMC (ionic polymer metal composite) fingers in the interesting frequency range of [0.01 Hz, 5 Hz] for 40 s at a sampling frequency of 250 Hz. The approximated linear Box-Jenkins (BJ) model was well matched with the model obtained using a stochastic power-spectral method. With feedback control, the large overshoot, rise time, and settling time associated with the inherent material properties were reduced. The motions of the IPMC fingers in the microgripper were coordinated to pick, move, and release a macro- or micro-part. The precise manipulation of this three-finger gripper was successfully demonstrated with experimental closed-loop responses.
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Tsai, Yao-Nien, and 蔡堯年. "Three-finger Gripper with Embedded Vision Module." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/ryuj97.

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碩士
國立臺灣科技大學
機械工程系
107
The universal adaptive grippers are designed for various tasks nowadays. Adaptive grippers mean the finger mechanism of the gripper is capable of adjusting itself fitting with the object surface. Universal grippers mean the gripper can hold on objects of different geometries compared to the solid claws gripper which focuses on grasping an object of a fixed shape in industrial applications. This research aims to develop an adaptive universal gripper design for efficient grasping multiple objects of varied shapes. We also focus on some drawback improvements on commercial grippers and add scalable function for our gripper. In last few years, the vision systems have been integrated with the robotic arms and grippers more often in intelligent automation applications. A gripper with an embedded vision module will remove the needs of installing the vision system and conducting the complex calibration procedure with robotic arms. Due to these reasons, we also built an embedded vision module including a camera and a line laser to the gripper to provide an efficient tool for intelligent automation. A series of tests have been conducted and the results proved that the gripper with the embedded vision module has potential adaptive applications.
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Chang, Han-Sheng, and 張瀚升. "Self-Adaptive Three-Finger Gripper and Its Fuzzy Controller Design." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/6dne7k.

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碩士
淡江大學
電機工程學系碩士班
103
Two grippers are designed and implemented in this thesis. One is a modularization of a parallel opening and closing two-gripper and the other is a self-adaptive three-finger gripper. In the modular design of a parallel opening and closing two-gripper, a method is proposed to enforce the stability of the gripper in the status of parallel opening and closing. It can improve the transmission efficiency. Moreover, a circuit is redesigned so that its size is reduced to be installed inside of the mechanism. It can solve the problem that the circuit needs to be separately installed in the manipulator. In the design of self-adaptive three-finger gripper, there are two parts: mechanism and controller. In the mechanism design of self-adaptive three-finger gripper, an underactuated mechanism with a self-adaptive finger is designed so that it can change the shape of three-finger to grip the object based on its shape. It can achieve the purpose that the gripper can stability grip objects of various shapes. Because the underactuated mechanism can change the finger shape, it can''t sure the object be gripped tightly. In the controller design of self-adaptive three-finger gripper, a fuzzy controller is proposed. The speed of motor is determined based on the torque mode selected by the user and the current feedback by the current sensor when the gripper is gripping objects. Let the gripper can actually grip objects.
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Lin, Yi-Cheng, and 林羿丞. "Force and Position Control for Self-Adaptive Three-Finger Gripper." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/18545532878512913149.

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碩士
淡江大學
電機工程學系碩士班
104
A design and implementation method of a self-adaptive three-finger gripper is proposed in this thesis. There are two methods, one is the gripper mechanism and the other is the gripper control. In the gripper mechanism design of this self-adaptive three-finger gripper, an underactuated mechanism with a self-adaptive finger is designed so that it can change the shape of three-finger to grip the object based on its shape. In the gripper control, two control types are proposed. One is a position control and the other is a force control. In the position control, a fuzzy PID control based on the motor current position obtained by a motor encoder is proposed to control the grabbing and loosening status of gripper. It can adjust the appropriate gesture in advanced according to the shape and size of object to eliminate the grabbing and loosening period of the gripper. In the force control, a fuzzy controller based on the current obtained by a current sensor is proposed to determine a rotational speed of the brushless DC motor to control the tightness of the gripper while this gripper is grabbing. According to the feedback to compute the displacement after the motor contacts the object, it can corroborate the tightness when the object is grabbed. The more amount of the displacement the tighter the gripper grabs the object. Some experimental results are presented to illustrate the proposed two control types can let the gripper can effectively grab objects.
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Book chapters on the topic "Three-Finger Gripper"

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Zubrycki, Igor, and Grzegorz Granosik. "Using Integrated Vision Systems: Three Gears and Leap Motion, to Control a 3-finger Dexterous Gripper." In Recent Advances in Automation, Robotics and Measuring Techniques, 553–64. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-05353-0_52.

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Conference papers on the topic "Three-Finger Gripper"

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Li, Guozhi, Cong Fu, Fuhai Zhang, and Shuguo Wang. "A reconfigurable three-finger robotic gripper." In 2015 IEEE International Conference on Information and Automation (ICIA). IEEE, 2015. http://dx.doi.org/10.1109/icinfa.2015.7279534.

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Gao, Yuan, Xiguang Huang, Ishan Singh Mann, and Hai-Jun Su. "A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98294.

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Abstract In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of the grippers is cable-driven, the stiffness variation is enabled by layer jamming. The inherent flexibility makes compliant grippers suitable for tasks such as grasping soft and irregular objects. However, their relatively low load capacity due to low structural stiffness limits their applications. Variable stiffness robotic grippers have the potential to address this challenge as their stiffness can be tuned on demand based on the needs of tasks. Layer jamming is an emerging method for variable stiffness due to its advantages of light weight, simple and quick actuation. In our design, the compliant backbone of the fingers is made of 3d printed PLA material. Four thin film materials are attached to each side of the skeleton. The working process of the robotic gripper follows two basic steps. First, the compliant skeleton is bent to a desired shape by actuating a tension cable via a servo motor. Second, upon application of a negative pressure by a vacuum pump, the finger is stiffened up owing to the increasing of the friction between contact surfaces of layers preventing their relative movement. Since the structural stiffness of the fingers is increased, their load capacity will be increased proportionally. When the air pressure is sufficiently large, the morphed shape can even be locked (no slipping). Test for stiffness of individual finger and load capacity of the robotic gripper are conducted to validate capability of the design. The results showed a 69-fold increase in stiffness of individual finger and a 30-fold increase in gripper’s load capacity.
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Mejia Rincon, Leonardo, Daniel Alejandro Ponce Saldias, Henrique Simas, and Daniel Martins. "A Grasp Synthesis Method for a Three Finger Gripper." In 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE). IEEE, 2018. http://dx.doi.org/10.1109/lars/sbr/wre.2018.00065.

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Carpenter, Ryan, Ross Hatton, and Ravi Balasubramanian. "Comparison of Contact Capabilities for Underactuated Parallel Jaw Grippers for Use on Industrial Robots." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35490.

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In this paper, we propose the addition of passive hydraulic mechanisms to simple parallel robotic grippers for improving disturbance rejection while maintaining the low cost of an industry standard gripper design. Each adaptive jaw on our gripper consists of three parallel hydraulic cylinders that are connected to a common local reservoir. The resultant passive hydraulic system is fully encased in the finger and moves independently of the actuator that closes the fingers. Such a design eliminates the need to engineer a complex cable or linkage system to allow for finger adaptability as many underactuated grippers do. Specifically, hydraulic cylinders need only be selected and connected together. As with other underactuated devices, the unconstrained freedoms of this design allow the gripper to adapt to unknown objects instead of creating a custom gripper shape for each new object the robot needs to grasp. In this paper, we analyze the ability of this gripper to maximize contact points over various sized objects and object placements while creating immobilizing form closure grasps. We than tested these improvements on a physical robot and found that grasp performance increased by up to 30% over a gripper lacking underactuation.
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Samavati, Farzad Cheraghpour, Amir Feizollahi, Pouya Sabetian, and S. Ali A. Moosavian. "Design, Fabrication and Control of a Three-Finger Robotic Gripper." In 2011 First International Conference on Robot, Vision and Signal Processing (RVSP). IEEE, 2011. http://dx.doi.org/10.1109/rvsp.2011.62.

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Peer, Angelika, Stephan Einenkel, and Martin Buss. "Multi-fingered telemanipulation - mapping of a human hand to a three finger gripper." In 2008 RO-MAN: The 17th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 2008. http://dx.doi.org/10.1109/roman.2008.4600710.

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Ghanbari, A., A. Rostami, M. M. S. Fakhrabadi, and A. Yaghoobi. "Simulation and analysis of anthropomorphic three finger micro/nano gripper using piezoelectric actuator." In International Symposium on Optomechatronic Technologies, edited by Yukitoshi Otani, Yves Bellouard, John T. Wen, Dalibor Hodko, Yoshitada Katagiri, Samuel K. Kassegne, Jonathan Kofman, et al. SPIE, 2008. http://dx.doi.org/10.1117/12.807343.

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Geies, Nadin A., Mahmoud Abdelrahim, MEH ElTaib, and Hany A. Mohamed. "Grasping Stability Analysis of an Underactuated Three Finger Adaptive Gripper on Matlab Sim-Mechanics." In 2020 16th International Computer Engineering Conference (ICENCO). IEEE, 2020. http://dx.doi.org/10.1109/icenco49778.2020.9357396.

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Nandikolla, Vidya K., Robin Bochen, and Tristin Suhr. "Design of a Smart Glove Using Flexible Technology for Artificial Gripper." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-86620.

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The paper presents the design of a smart glove with flexible sensors integrated with wireless technology to measure the signals of grabbing and grasping. The sensor technology is structured into three phases: sensor calibration, amplification and digitizer of the wearable sensors. The real-time raw data is collected, filters are designed to remove the noise and relay the information to the developed application via Bluetooth. The Bluetooth module communicates with an android mobile application through the Bluetooth networks known as the piconets. Piconets use a master/slave model with a Bluetooth module to control and send data that communicates with a smart device. The mobile application sends and receives information to/from the Bluetooth module and the mobile device. This allows the user to analyze the forces applied in each finger for various operations. The interactive glove interfaced with mobile technology provides gesture recognition and maps the finger orientation. The purpose of designing such a glove is to train the user how to improve their hand defense mechanism as the mobile device informs about the multi finger gripper control. To improve the quality of hand rehabilitation, the proposed design can provide physicians an efficient tool to evaluate the recovery of patient’s hand injury.
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Hill, Scott, and Stephen Canfield. "An Assessment of Fused Deposition Modeling for the Manufacturing of Flexural Pivots in an Anthropomorphic Robotic Hand Design." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-60253.

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There is a significant rise in the design of robots performing ever-more complicated tasks. This has motivated more-anthropomorphic grasping hands for these robots. These hands or grippers are complex machines requiring numerous joints to provide high mobility within a relatively small device. Compliant mechanisms and grippers based on compliant joints provide a viable approach to design improved grippers. The use of compliant joints in the design of a hand yields a number of features that can potentially benefit the design; it allows for more lifelike mobility and can eliminate the need for traditional bearings that yield high contact stresses. This allows for much more variety in material choices. The freedom of choosing from a wider range of materials provides many benefits. For example, plastics can provide softer finger members, improved gripping characteristics and components that are less stiff, making them inherently safer for systems that operate in proximity to people. They can provide the flexibility to more naturally conform to the contour of a particular object when grasping it and reduce the necessary gripping forces to achieve reliable operation. Additionally, a solid-state design compliant mechanism design allows more freedom in designing mechanisms that will be constructed for high mobility and operating in a small space. This approach is further enhanced by the increased availability of additive manufacturing tools that enables ready implementation of compliant mechanism designs with almost any topology. This paper will examine the application additive manufacturing tools to create an anthropomorphic gripper based on compliant mechanism components. The primary contribution of this paper is the empirical evaluation of a set of compliant joints for use as the fingers in an anthropomorphic robotic hand produced using additive manufacturing. Three compliant joints will be considered: the simple straight-axis flexural pivot, cross-axis flexural pivot, and leaf-type isosceles-trapezoidal flexural pivot. Each joint type has demonstrated characteristics that may be suitable for fingers in gripping mechanism and are readily suited to be manufactured using low-cost fused deposition modeling techniques that allow for quick and low-cost production. Further, three materials are evaluated for application as the build material of each compliant joint individually and as a complete solid-state anthropomorphic gripper. These materials are: acrylonitrile butadiene styrene (ABS), Nylon 6, and thermoplastic polyurethane (TPU). Each joint and each material option is compared on the basis of their feasibility for rapid prototyping and suitability for substitution of the interphalangeal joints of the human hand. Deflection tests and finite element analysis are used to gather the empirical data for comparison. An evaluation of the tests is provided to determine which compliant joints are well suited for this application. The paper will also consider the as-built material characteristics relative to their application as gripper elements and will compare and contrast the suitability and any impact on the empirical testing and design. This work will provide information on the combination of joint topology, material and manufacturing processes and can be used to inform the design of soft or highly compliant mechanisms.
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