TY - GEN
T1 - Design and Analysis of a Novel 3-DOF Deployable Grasping Mechanism
AU - Gao, Changqing
AU - Huang, Hailin
AU - Yang, Gang
AU - Li, Bing
AU - Huang, Ke
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/28
Y1 - 2020/9/28
N2 - In this paper, a novel 3-DOF deployable grasping mechanism consisting of two fingers and a palmar mechanism is proposed, in which each finger is made up of a series of basic modules. Firstly, specific design of the grasping mechanism is introduced. In order to realize the deployment motion, two groups of scissor-shaped elements are used in design of basic module, special revolute joint of the scissor-shaped element is designed to form grasping angle when the basic module carries out deployment motion. Secondly, the grasping angle and the deploy/fold ratio are discussed, from which the method to adjust grasping angle is also proposed. Thirdly, kinematics and workspace of the proposed grasping mechanism are analyzed, analysis result shows that the proposed grasping mechanism has quite large reachable workspace. Fourthly, the shape adaptability and grasping simulation are conducted, in which four types of objects with different shapes are grasped by the proposed grasping mechanism. The results prove that the proposed grasping mechanism has good grasping performance.
AB - In this paper, a novel 3-DOF deployable grasping mechanism consisting of two fingers and a palmar mechanism is proposed, in which each finger is made up of a series of basic modules. Firstly, specific design of the grasping mechanism is introduced. In order to realize the deployment motion, two groups of scissor-shaped elements are used in design of basic module, special revolute joint of the scissor-shaped element is designed to form grasping angle when the basic module carries out deployment motion. Secondly, the grasping angle and the deploy/fold ratio are discussed, from which the method to adjust grasping angle is also proposed. Thirdly, kinematics and workspace of the proposed grasping mechanism are analyzed, analysis result shows that the proposed grasping mechanism has quite large reachable workspace. Fourthly, the shape adaptability and grasping simulation are conducted, in which four types of objects with different shapes are grasped by the proposed grasping mechanism. The results prove that the proposed grasping mechanism has good grasping performance.
KW - Deployable grasping mechanism
KW - Grasping angle
KW - Kinematics and workspace
KW - Shape adaptability
UR - https://www.scopus.com/pages/publications/85099388239
U2 - 10.1109/RCAR49640.2020.9303298
DO - 10.1109/RCAR49640.2020.9303298
M3 - 会议稿件
AN - SCOPUS:85099388239
T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
SP - 199
EP - 203
BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Y2 - 28 September 2020 through 29 September 2020
ER -