Abstract
This paper presents a novel 5-DOF deployable robotic gripper for grasping large-scale unknown objects. This robotic gripper is composed of four fingers and a single-mobility base mechanism, and each finger is made up of a serial of basic modules to conveniently store and transport. First, the mechanism design of the robotic gripper is briefly introduced. By special revolute joint of the scissor-shaped element, the fingers can form a certainly grasping angle when the robotic gripper conducts deployment-motion. Second, kinematic analysis is conducted to generate a workspace and kinematic simulation for the robotic gripper, the result shows that the robotic gripper has quite large reachable workspace. Dynamic analysis is then performed based on Lagrange dynamic equation, which is of great significance for further control and optimization. Third, a group of grasping simulations are performed with a variety of objects to prove the shape adaptability, and the results show that the robotic gripper has excellent grasping performance.
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Acknowledgment
This work was supported by the Key-Area Research and Development Program of Guangdong Province (Grant No. 2019B090915001), and the Shenzhen Research and Development Program of China (Grant No. JCYJ20200109112818703).
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Gao, C., Li, B., Hao, C., Peng, F., Wu, A. (2021). Kinematic and Dynamic Analysis of a Novel 5-DOF Multi-fingered Deployable Robotic Gripper. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_38
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DOI: https://doi.org/10.1007/978-3-030-89134-3_38
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