Development of the robot gripper for a home service robot

In this paper, a service robot gripper is presented which has a miniaturized fingertip pressure sensor. The pressure sensor is flexible enough to control object; the design of the robot gripper made up of a thumb and two fingers is proposed. The conventional robot gripper is that the metacarpal fing...

Full description

Saved in:
Bibliographic Details
Main Authors: Yong-Chul Lee, Sung-Jin Lim, Soon-Woong Hwang, Chang-Soo Han
Format: Conference Proceeding
Language:English
Subjects:
condition number
contact stability
Fingers
Friction
Grippers
Humans
Intelligent sensors
manipulation
Mechanical sensors
pressure sensor
robot gripper
Robot sensing systems
Service robots
Stability
Thumb
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, a service robot gripper is presented which has a miniaturized fingertip pressure sensor. The pressure sensor is flexible enough to control object; the design of the robot gripper made up of a thumb and two fingers is proposed. The conventional robot gripper is that the metacarpal finger is consist of two joint. This gripper mechanism is specially designed for getting the DOF which consist of three joint. The grasp algorithm is applied to the study of a control problem where the gripper has - command for gripping an object. The usefulness of the pressure sensors are verified by experiment.