Abstract
This paper presents the preliminary work on prototype design and analysis of a 3D printed three-fingered underactuated robotic gripper with a breakaway clutch mechanism. An underactuated mechanical design, kinematics of gripper's finger and a breakaway clutch mechanism are described in details. These elements provide passive adaptive object grasping and relatively high load carrying capacity of the gripper. The robotic gripper was prototyped using 3D printing technology and off-the-shelf components. Simulation and experimental results of grasping performance characterization of the robotic gripper are also presented.
| Original language | English |
|---|---|
| Title of host publication | 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 110-115 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781479957170 |
| DOIs | |
| Publication status | Published - Jan 22 2014 |
| Event | 10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 - Tokyo, Japan Duration: Nov 27 2014 → Nov 29 2014 |
Other
| Other | 10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 11/27/14 → 11/29/14 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
Cite this
An underactuated adaptive 3D printed robotic gripper. / Telegenov, Kuat; Tlegenov, Yedige; Shintemirov, Almas.
10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 110-115 7018563.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An underactuated adaptive 3D printed robotic gripper
AU - Telegenov, Kuat
AU - Tlegenov, Yedige
AU - Shintemirov, Almas
PY - 2014/1/22
Y1 - 2014/1/22
N2 - This paper presents the preliminary work on prototype design and analysis of a 3D printed three-fingered underactuated robotic gripper with a breakaway clutch mechanism. An underactuated mechanical design, kinematics of gripper's finger and a breakaway clutch mechanism are described in details. These elements provide passive adaptive object grasping and relatively high load carrying capacity of the gripper. The robotic gripper was prototyped using 3D printing technology and off-the-shelf components. Simulation and experimental results of grasping performance characterization of the robotic gripper are also presented.
AB - This paper presents the preliminary work on prototype design and analysis of a 3D printed three-fingered underactuated robotic gripper with a breakaway clutch mechanism. An underactuated mechanical design, kinematics of gripper's finger and a breakaway clutch mechanism are described in details. These elements provide passive adaptive object grasping and relatively high load carrying capacity of the gripper. The robotic gripper was prototyped using 3D printing technology and off-the-shelf components. Simulation and experimental results of grasping performance characterization of the robotic gripper are also presented.
UR - http://www.scopus.com/inward/record.url?scp=84945239192&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945239192&partnerID=8YFLogxK
U2 - 10.1109/MECATRONICS.2014.7018563
DO - 10.1109/MECATRONICS.2014.7018563
M3 - Conference contribution
AN - SCOPUS:84945239192
SP - 110
EP - 115
BT - 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -