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- Publisher Website: 10.1109/IROS.2017.8206012
- Scopus: eid_2-s2.0-85041955609
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Conference Paper: Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)
Title | Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp) |
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Authors | |
Issue Date | 2017 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 1937-1942 How to Cite? |
Abstract | This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis. |
Persistent Identifier | http://hdl.handle.net/10722/302990 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Kobayashi, Akinari | - |
dc.contributor.author | Yamaguchi, Kengo | - |
dc.contributor.author | Kinugawa, Jun | - |
dc.contributor.author | Arai, Shogo | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:59Z | - |
dc.date.available | 2021-09-07T08:42:59Z | - |
dc.date.issued | 2017 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 1937-1942 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302990 | - |
dc.description.abstract | This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp) | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2017.8206012 | - |
dc.identifier.scopus | eid_2-s2.0-85041955609 | - |
dc.identifier.volume | 2017-September | - |
dc.identifier.spage | 1937 | - |
dc.identifier.epage | 1942 | - |
dc.identifier.eissn | 2153-0866 | - |