TY - GEN
T1 - A deployable end-effector with caging-based grasp capability for capturing free-floating objects
AU - Li, Xue Ai
AU - Zhang, Yuanfei
AU - Sun, Kui
AU - Liu, Hong
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - In this paper, based on the caging grasp, a novel deployable end-effector for capturing free-floating objects is proposed, which implements a secure grasp without precise motion tracking and complex feedback control. Three subsystems for capture, transmission and actuation are highly integrated, including mechanics, electronics and sensors. Grippers composed of constant-torque hinges are arranged specifically to endow the mechanism with deployable function and ensure a steady envelope. Gears are widely adopted in a unique manner for synchronous motion of six grippers, with only one actuator. Meanwhile, an optimal design for a larger envelope with weight reduction of the grippers is carried out. The multisensory system and electronics in the actuation subsystem lay the foundation for operational procedure of the end-effector. Additionally, performance of the end-effector is verified in virtual simulation software.
AB - In this paper, based on the caging grasp, a novel deployable end-effector for capturing free-floating objects is proposed, which implements a secure grasp without precise motion tracking and complex feedback control. Three subsystems for capture, transmission and actuation are highly integrated, including mechanics, electronics and sensors. Grippers composed of constant-torque hinges are arranged specifically to endow the mechanism with deployable function and ensure a steady envelope. Gears are widely adopted in a unique manner for synchronous motion of six grippers, with only one actuator. Meanwhile, an optimal design for a larger envelope with weight reduction of the grippers is carried out. The multisensory system and electronics in the actuation subsystem lay the foundation for operational procedure of the end-effector. Additionally, performance of the end-effector is verified in virtual simulation software.
KW - Caging
KW - Capture
KW - Deployable end-effector
KW - Gripper
KW - Optimal design
UR - https://www.scopus.com/pages/publications/85056337608
U2 - 10.1109/ICMA.2018.8484306
DO - 10.1109/ICMA.2018.8484306
M3 - 会议稿件
AN - SCOPUS:85056337608
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 455
EP - 460
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -