Design and implementation of shape‐adaptive and multifunctional robotic gripper
This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. Two layered‐based novel multifunctional gripper design is proposed by stacking a multijointed closed‐chain mechanism over a multijointed double para...
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| Veröffentlicht in: | Journal of field robotics 2024-01, Vol.41 (1), p.162-178 |
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| container_end_page | 178 |
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| container_title | Journal of field robotics |
| container_volume | 41 |
| creator | Aqib, Muhammad Imran, Abid Khan, Khurram Arsalan, Muhammad Manzoor, Sajjad Long, Kang Yi, Byung‐Ju |
| description | This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. Two layered‐based novel multifunctional gripper design is proposed by stacking a multijointed closed‐chain mechanism over a multijointed double parallelogram mechanism to achieve a maximum number of grasping techniques. The multijointed closed‐chain mechanism is employed to perform power, shape‐adaptive grasping, and a multijointed double parallelogram mechanism is used to perform scooping, parallel, and pinch grasping. For stable shape‐adaptive/power grasping, the proposed design allows more contact points between the object and the contact surface of fingers as compared to previous gripper mechanisms. Moreover, a complete mathematical model relating the contact forces at the links of each finger to the linear actuation force and spring torque is developed to conduct stability analysis of the proposed gripper design. Finally, simulations and several experiments are performed using real objects in a reconfigurable environment to demonstrate and validate the stable grasping capabilities of the proposed gripper. |
| doi_str_mv | 10.1002/rob.22251 |
| format | Article |
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Two layered‐based novel multifunctional gripper design is proposed by stacking a multijointed closed‐chain mechanism over a multijointed double parallelogram mechanism to achieve a maximum number of grasping techniques. The multijointed closed‐chain mechanism is employed to perform power, shape‐adaptive grasping, and a multijointed double parallelogram mechanism is used to perform scooping, parallel, and pinch grasping. For stable shape‐adaptive/power grasping, the proposed design allows more contact points between the object and the contact surface of fingers as compared to previous gripper mechanisms. Moreover, a complete mathematical model relating the contact forces at the links of each finger to the linear actuation force and spring torque is developed to conduct stability analysis of the proposed gripper design. Finally, simulations and several experiments are performed using real objects in a reconfigurable environment to demonstrate and validate the stable grasping capabilities of the proposed gripper.</description><identifier>ISSN: 1556-4959</identifier><identifier>EISSN: 1556-4967</identifier><identifier>DOI: 10.1002/rob.22251</identifier><language>eng</language><publisher>Hoboken: Wiley Subscription Services, Inc</publisher><subject>Actuation ; adaptive grasping ; Chains ; Contact force ; Fingers ; grasping ; gripper ; Grippers ; parallel grasping ; Parallelograms ; pinch grasping ; scooping ; Stability analysis ; under actuation</subject><ispartof>Journal of field robotics, 2024-01, Vol.41 (1), p.162-178</ispartof><rights>2023 Wiley Periodicals LLC.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3321-ac309f0039f09143d6cd5120c2e9d420c9a5c52f0bdcddf9c6525d4cfeccbdf83</citedby><cites>FETCH-LOGICAL-c3321-ac309f0039f09143d6cd5120c2e9d420c9a5c52f0bdcddf9c6525d4cfeccbdf83</cites><orcidid>0000-0002-1106-7679</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frob.22251$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frob.22251$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids></links><search><creatorcontrib>Aqib, Muhammad</creatorcontrib><creatorcontrib>Imran, Abid</creatorcontrib><creatorcontrib>Khan, Khurram</creatorcontrib><creatorcontrib>Arsalan, Muhammad</creatorcontrib><creatorcontrib>Manzoor, Sajjad</creatorcontrib><creatorcontrib>Long, Kang</creatorcontrib><creatorcontrib>Yi, Byung‐Ju</creatorcontrib><title>Design and implementation of shape‐adaptive and multifunctional robotic gripper</title><title>Journal of field robotics</title><description>This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. 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Finally, simulations and several experiments are performed using real objects in a reconfigurable environment to demonstrate and validate the stable grasping capabilities of the proposed gripper.</description><subject>Actuation</subject><subject>adaptive grasping</subject><subject>Chains</subject><subject>Contact force</subject><subject>Fingers</subject><subject>grasping</subject><subject>gripper</subject><subject>Grippers</subject><subject>parallel grasping</subject><subject>Parallelograms</subject><subject>pinch grasping</subject><subject>scooping</subject><subject>Stability analysis</subject><subject>under actuation</subject><issn>1556-4959</issn><issn>1556-4967</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><recordid>eNp1kL1OwzAUhS0EEqUw8AaRmBjS-id26xFK-ZEqVSCYLdc_xVUSBzsBdeMReEaeBLdBbCz33OE79x4dAM4RHCEI8Tj41QhjTNEBGCBKWV5wNjn82yk_BicxbiAsyJTTAXi8MdGt60zWOnNVU5rK1K1sna8zb7P4Khvz_fkltWxa9272WNWVrbNdrXaULLP00rdOZevgmsaEU3BkZRnN2a8Owcvt_Hl2ny-Wdw-zq0WuCMEol4pAbiEkaXBUEM2UpghDhQ3XRVIuqaLYwpVWWluuGMVUF8oapVbaTskQXPR3m-DfOhNbsfFdSIGiwFPOGCMTXiTqsqdU8DEGY0UTXCXDViAodo2JFF_sG0vsuGc_XGm2_4PiaXndO34ATa1vmQ</recordid><startdate>202401</startdate><enddate>202401</enddate><creator>Aqib, Muhammad</creator><creator>Imran, Abid</creator><creator>Khan, Khurram</creator><creator>Arsalan, Muhammad</creator><creator>Manzoor, Sajjad</creator><creator>Long, Kang</creator><creator>Yi, Byung‐Ju</creator><general>Wiley Subscription Services, Inc</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-1106-7679</orcidid></search><sort><creationdate>202401</creationdate><title>Design and implementation of shape‐adaptive and multifunctional robotic gripper</title><author>Aqib, Muhammad ; Imran, Abid ; Khan, Khurram ; Arsalan, Muhammad ; Manzoor, Sajjad ; Long, Kang ; Yi, Byung‐Ju</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3321-ac309f0039f09143d6cd5120c2e9d420c9a5c52f0bdcddf9c6525d4cfeccbdf83</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Actuation</topic><topic>adaptive grasping</topic><topic>Chains</topic><topic>Contact force</topic><topic>Fingers</topic><topic>grasping</topic><topic>gripper</topic><topic>Grippers</topic><topic>parallel grasping</topic><topic>Parallelograms</topic><topic>pinch grasping</topic><topic>scooping</topic><topic>Stability analysis</topic><topic>under actuation</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Aqib, Muhammad</creatorcontrib><creatorcontrib>Imran, Abid</creatorcontrib><creatorcontrib>Khan, Khurram</creatorcontrib><creatorcontrib>Arsalan, Muhammad</creatorcontrib><creatorcontrib>Manzoor, Sajjad</creatorcontrib><creatorcontrib>Long, Kang</creatorcontrib><creatorcontrib>Yi, Byung‐Ju</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of field robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Aqib, Muhammad</au><au>Imran, Abid</au><au>Khan, Khurram</au><au>Arsalan, Muhammad</au><au>Manzoor, Sajjad</au><au>Long, Kang</au><au>Yi, Byung‐Ju</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Design and implementation of shape‐adaptive and multifunctional robotic gripper</atitle><jtitle>Journal of field robotics</jtitle><date>2024-01</date><risdate>2024</risdate><volume>41</volume><issue>1</issue><spage>162</spage><epage>178</epage><pages>162-178</pages><issn>1556-4959</issn><eissn>1556-4967</eissn><abstract>This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. Two layered‐based novel multifunctional gripper design is proposed by stacking a multijointed closed‐chain mechanism over a multijointed double parallelogram mechanism to achieve a maximum number of grasping techniques. The multijointed closed‐chain mechanism is employed to perform power, shape‐adaptive grasping, and a multijointed double parallelogram mechanism is used to perform scooping, parallel, and pinch grasping. For stable shape‐adaptive/power grasping, the proposed design allows more contact points between the object and the contact surface of fingers as compared to previous gripper mechanisms. Moreover, a complete mathematical model relating the contact forces at the links of each finger to the linear actuation force and spring torque is developed to conduct stability analysis of the proposed gripper design. Finally, simulations and several experiments are performed using real objects in a reconfigurable environment to demonstrate and validate the stable grasping capabilities of the proposed gripper.</abstract><cop>Hoboken</cop><pub>Wiley Subscription Services, Inc</pub><doi>10.1002/rob.22251</doi><tpages>17</tpages><orcidid>https://orcid.org/0000-0002-1106-7679</orcidid><oa>free_for_read</oa></addata></record> |
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| subjects | Actuation adaptive grasping Chains Contact force Fingers grasping gripper Grippers parallel grasping Parallelograms pinch grasping scooping Stability analysis under actuation |
| title | Design and implementation of shape‐adaptive and multifunctional robotic gripper |
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