Title :
Development of the robot gripper for a home service robot
Author :
Lee, Yong-Chul ; Lim, Sung-Jin ; Hwang, Soon-Woong ; Han, Chang-Soo
Author_Institution :
Dept. of Mech. Eng., Univ. of Hanyang, Seoul, South Korea
Abstract :
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.
Keywords :
grippers; pressure control; pressure sensors; service robots; stability; grasp algorithm; gripper mechanism; home service robot; miniaturized fingertip pressure sensor; service robot gripper; Fingers; Friction; Grippers; Humans; Intelligent sensors; Mechanical sensors; Robot sensing systems; Service robots; Stability; Thumb; condition number; contact stability; manipulation; pressure sensor; robot gripper;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
