DocumentCode
505111
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
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
1551
Lastpage
1556
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;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5335258
Link To Document