- Tytuł:
- Hybrid robot hand for stably manipulating one group objects
- Autorzy:
-
Nguyen, Pho Van
Nguyen, Phi N.
Nguyen, Tan
Le, Thanh Lanh - Powiązania:
- https://bibliotekanauki.pl/articles/27309856.pdf
- Data publikacji:
- 2022
- Wydawca:
- Polska Akademia Nauk. Czasopisma i Monografie PAN
- Tematy:
-
hybrid gripper
soft gripper
manipulate group objects
handle multiple objects
hybrid
robot hand
chwytak hybrydowy
miękki chwytak
manipulowanie obiektami grupowymi - Opis:
- Autonomous manipulation of group objects requires the gripper/robot hand to achieve high productivity without poor outcomes such as object slippage and damage. This article develops the robot hand capable of achieving effective performance in each trial of grasping the group objects. Our proposed robot hand consists of two symmetrical groups of hybrid fingers having soft pads on the grasping interfaces, which operate as a comb. The grasping ability of this robot hand was theoretically and experimentally validated by handling three groups of objects showcases: tea packs, toothbrushes, and mixing sticks. Additionally, validation results were compared with those of another soft robot hand having soft Pneunet fingers. In each trial, the experimental results showed that the proposed robot hand with hybrid fingers achieved more stable grasping states characterized by a higher number of grasped objects than those in the case of the soft robot hand. Also, experimental results were in good agreement with the predictions of the proposed theoretical analysis. Finally, better performances of the hybrid robot hand in handling the group object provide the bases for developing a novel-robotic application in industrial production.
- Źródło:
-
Archive of Mechanical Engineering; 2022, LXIX, 3; 375--391
0004-0738 - Pojawia się w:
- Archive of Mechanical Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł