Preliminary design of a three-finger underactuated adaptive end effector with a breakaway clutch mechanism

Kuat Telegenov, Yedige Tlegenov, Shahid Hussain, Almas Shintemirov

    Research output: Contribution to journalArticle

    2 Citations (Scopus)

    Abstract

    Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design.

    Original languageEnglish
    Pages (from-to)496-503
    Number of pages8
    JournalJournal of Robotics and Mechatronics
    Volume27
    Issue number5
    Publication statusPublished - Oct 1 2015

    Fingerprint

    Clutches
    End effectors
    Robotics
    Grippers
    Printing
    Kinematics
    Education
    Robots

    Keywords

    • 3D printing
    • Adaptive grasping
    • Breakaway clutch mechanism
    • Gear train mechanism
    • Underactuated robotic end effector

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Science(all)

    Cite this

    Preliminary design of a three-finger underactuated adaptive end effector with a breakaway clutch mechanism. / Telegenov, Kuat; Tlegenov, Yedige; Hussain, Shahid; Shintemirov, Almas.

    In: Journal of Robotics and Mechatronics, Vol. 27, No. 5, 01.10.2015, p. 496-503.

    Research output: Contribution to journalArticle

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