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A Universal Gripper Base on Pivoted Pin Array with Chasing Tip

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10985))

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Abstract

In order to challenge universal grasp capability beyond human hands, a pin array gripper is presented. It consists of a matrix of passively slidable pins which conform themselves to the contour of various objects. The swing motion of pins enable multiple lateral contacts with objects to provide grasp force via force-closure. Possible configurations of pin unit and dimensions of the CAD embodiment are analyzed, showing critical parameters for improving grasp performance. The feasibility of the gripper design is verified by analytical model.

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Acknowledgement

This research is supported by National Natural Science Foundation of China (No. 51575302) and Beijing Natural Science Foundation (No. J170005).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    An Mo, Hong Fu & Wenzeng Zhang

Authors
  1. An Mo
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  2. Hong Fu
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  3. Wenzeng Zhang
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Corresponding author

Correspondence to Wenzeng Zhang .

Editor information

Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

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Mo, A., Fu, H., Zhang, W. (2018). A Universal Gripper Base on Pivoted Pin Array with Chasing Tip. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_9

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  • DOI: https://doi.org/10.1007/978-3-319-97589-4_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97588-7

  • Online ISBN: 978-3-319-97589-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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