Compliant gripper design, prototyping, and modeling using screw theory formulation

This article investigates some aspects related to the design, modeling, prototyping, and testing of soft–rigid tendon-driven grippers. As a case study, we present the design and development of a two-finger soft gripper and exploit it as an example to demonstrate the application scenario of our mathe...

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Veröffentlicht in:	The International journal of robotics research 2021-01, Vol.40 (1), p.55-71
Hauptverfasser:	Hussain, Irfan, Malvezzi, Monica, Gan, Dongming, Iqbal, Zubair, Seneviratne, Lakmal, Prattichizzo, Domenico, Renda, Federico
Format:	Artikel
Sprache:	eng
Schlagworte:	Ellipsoids Formability Grippers Mathematical models Mechanical systems Optical tracking Prototypes Prototyping Redevelopment Screw theory Stiffness System dynamics Three dimensional printing Tracking systems
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