Title :
A novel two-finger variable-reluctance gripper for high-speed grasping of delicate objects: an implementation case study
Author :
Chan, Kenneth K. ; Cheung, Norbert C.
Author_Institution :
Dept. of Electr. Eng., Hong Kong Polytech. Univ., Kowloon, China
Abstract :
The paper describes the development of a novel two-finger gripper using variable-reluctance (VR) technology. A model is constructed and verified by experimentation. Results show that the proposed gripper inherits many of the advantages of VR actuators, including ease of construction, low cost, high robustness, and high reliability.
Keywords :
actuators; cost reduction; force control; grippers; reliability; robust control; cost reduction; force control; high-speed grasp; reliability; robustness; two-finger gripper; variable-reluctance actuators; variable-reluctance gripper; Actuators; Computer aided software engineering; Costs; Couplings; Grippers; Manufacturing; Robustness; Springs; Torque; Virtual reality; Force control; gripper; variable reluctance (VR);
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2005.858698
