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Grasping and control issues in adaptive end effectors.

Dubey, V. N. and Crowder, R. M., 2004. Grasping and control issues in adaptive end effectors. In: ASME International Design Engineering Technical Conference, 28 September -2 October 2004, Salt Lake City, Utah (USA), 327-335.

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Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Proceedings of the ASME Design Engineering Technical Conference 2 A, pp. 327-335
Uncontrolled Keywords: Adaptive Finger; End Effectors; Finger Design; Robotic grasping; Robotic Hand
Group:Faculty of Science & Technology
ID Code:10722
Deposited By: Dr Venky Dubey
Deposited On:16 Sep 2009 19:46
Last Modified:14 Mar 2022 13:24


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