Title :
A medium-complexity compliant end effector
Author :
Ulrich, N. ; Paul, Rimi ; Bajcsy, Ruzena
Author_Institution :
Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
The design of an end effector under development at Pennsylvania University is reported. The rationale supporting this mechanism is explored, its geometry is described and experimental results from the first prototype are presented. The gripper has three fingers, one fixed with respect to the palm and the other two able to rotate synchronously about different points under the palm. Some ideas for future work are presented
Keywords :
robots; Pennsylvania University; gripper; medium-complexity compliant end effector; synchronous rotation; three-fingered robot hand; End effectors; Grasping; Grippers; Mechanical engineering; Prototypes; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots; Thermal conductivity;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12087
