DESIGN AND FABRICATION OF ROBOTIC GRIPPER FOR SUCCESSFULLY GRASPING VARIOUS OBJECTS IN UNSTRUCTURED ENVIRONMENTS

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HEIDARI HAMIDREZA; JAFARY POURIA MILAD; SHARIFI SHAHRIAR; KARAMI MAHMOUDREZA

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:5 Page(s): 241-250

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Information Journal Paper

Title

DESIGN AND FABRICATION OF ROBOTIC GRIPPER FOR SUCCESSFULLY GRASPING VARIOUS OBJECTS IN UNSTRUCTURED ENVIRONMENTS

Author(s)

HEIDARI HAMIDREZA | JAFARY POURIA MILAD | SHARIFI SHAHRIAR | KARAMI MAHMOUDREZA | Issue Writer Certificate

Keywords

GRIPPERQ1

MECHANICAL COMPLIANCEQ1

UNDER-ACTUATEDQ1

UNSTRUCTURED ENVIRONMENTSQ1

Abstract

Grasping in UNSTRUCTURED ENVIRONMENTS is one of the most challenging issues currently facing robotics. The inherent uncertainty about the properties of the target object and its surroundings compels the use of robot hands, which typically involve complex hands, require elaborate sensor suites, and are difficult to control. For this purpose, in this paper combining the kinematic structure of a three and two links finger for design and fabrication of robotic GRIPPER will be evaluated. First, the challenges associated with grasping by careful mechanical design of GRIPPER are analyzed. Then, the design and fabrication of a sample GRIPPER by combining a three-links finger similar to the human index finger and a two-links finger similar to the thumb are described. In the following, the performance of this hand for grasping various objects will be examined. The results show that with two fingers and simple design, without the need for the complex control, c various objects can be grasped successfully. Also, the results demonstrate that compared with the previous researches and by proximity to the kinematic structure of the human hand fingers, by combining two with three link fingers this GRIPPER will have a better performance than the previous symmetric GRIPPER for successfully grasping large objects.

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APA: Copy

HEIDARI, HAMIDREZA, JAFARY POURIA, MILAD, SHARIFI, SHAHRIAR, & KARAMI, MAHMOUDREZA. (2016). DESIGN AND FABRICATION OF ROBOTIC GRIPPER FOR SUCCESSFULLY GRASPING VARIOUS OBJECTS IN UNSTRUCTURED ENVIRONMENTS. MODARES MECHANICAL ENGINEERING, 16(5), 241-250. SID. https://sid.ir/paper/177937/en

Vancouver: Copy

HEIDARI HAMIDREZA, JAFARY POURIA MILAD, SHARIFI SHAHRIAR, KARAMI MAHMOUDREZA. DESIGN AND FABRICATION OF ROBOTIC GRIPPER FOR SUCCESSFULLY GRASPING VARIOUS OBJECTS IN UNSTRUCTURED ENVIRONMENTS. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(5):241-250. Available from: https://sid.ir/paper/177937/en

IEEE: Copy

HAMIDREZA HEIDARI, MILAD JAFARY POURIA, SHAHRIAR SHARIFI, and MAHMOUDREZA KARAMI, “DESIGN AND FABRICATION OF ROBOTIC GRIPPER FOR SUCCESSFULLY GRASPING VARIOUS OBJECTS IN UNSTRUCTURED ENVIRONMENTS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 5, pp. 241–250, 2016, [Online]. Available: https://sid.ir/paper/177937/en

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