Abstract
This paper discusses the design of capturing system with an extremely high response. The key for achieving a quick response is the Arm/Gripper Coupling Mechanism (AGCM), where the potential energy initially accumulated in the arm is transferred to the kinetic energy of the arm and, continuously, to the kinetic energy for closing the gripper at the capturing point without any time lag. The experimental results show the maximum acceleration of 91G, and the total capturing time of 0.03sec. Capturing a dropping ball is the highlight of the experiments.
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Kaneko, M., Takenaka, R., Ishikawa, M. (2003). The Capturing Robot with Super High Acceleration. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_32
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DOI: https://doi.org/10.1007/3-540-36268-1_32
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