Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects
نویسندگان
چکیده
منابع مشابه
Micro Manipulation by a Compliant Piezoelectric Micro Gripper towards Robotic Micro Assembly
This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts. The compensation of misalignment during robotic peg-in-hole assembly is achieved by this compliant micro gripper because the piezoelectric actuator has capability of producing the displacement i...
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Purpose – Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping object. The purpose of the underactuation is to use less active inputs than the number of degrees of freedom of the gripper mechanism to drive the open and close motion of the gripper. Another purpose of underaction is to reduce the number of c...
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15 صفحه اولPerception of Deformable Objects and Compliant Manipulation for Service Robots
We identified softness in robot control as well as robot perception as key enabling technologies for future service robots. Compliance in motion control compensates for small errors in model acquisition and estimation and enables safe physical interaction with humans. The perception of shape similarities and deformations allows a robot to adapt its skills to the object at hand, given a descript...
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ژورنال
عنوان ژورنال: Micromachines
سال: 2019
ISSN: 2072-666X
DOI: 10.3390/mi10050313