Multifingered under-actuated hands in robotic assembly
Apstrakt
New production paradigm of mass customization imposes the development of flexible gripping systems with exceptional dexterity, capable of mimicking grasping behavior of human hands. In this context, the most demanding technical challenges are: motoric capabilities and related design aspects, overall weight and size, and tactile and other perceptual capabilities. Also, to make the gripper industry acceptable, it should be in affordable price range. Having all that in mind, concept of the multifingered under-actuated hand appears as good candidate to be an optimal, general purpose solution. This paper presents the general conceptual framework for development of multifingered hands which are based on under-actuation principle.
Ključne reči:
Robotic assembly / Grasping / Multifingered handsIzvor:
Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94, 2018, 91-94Finansiranje / projekti:
- Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju (RS-MESTD-Technological Development (TD or TR)-35007)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Matijašević, Lazar AU - Milivojević, Miloš AU - Petrović, Petar PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6185 AB - New production paradigm of mass customization imposes the development of flexible gripping systems with exceptional dexterity, capable of mimicking grasping behavior of human hands. In this context, the most demanding technical challenges are: motoric capabilities and related design aspects, overall weight and size, and tactile and other perceptual capabilities. Also, to make the gripper industry acceptable, it should be in affordable price range. Having all that in mind, concept of the multifingered under-actuated hand appears as good candidate to be an optimal, general purpose solution. This paper presents the general conceptual framework for development of multifingered hands which are based on under-actuation principle. C3 - Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94 T1 - Multifingered under-actuated hands in robotic assembly EP - 94 SP - 91 UR - https://hdl.handle.net/21.15107/rcub_machinery_6185 ER -
@conference{ author = "Matijašević, Lazar and Milivojević, Miloš and Petrović, Petar", year = "2018", abstract = "New production paradigm of mass customization imposes the development of flexible gripping systems with exceptional dexterity, capable of mimicking grasping behavior of human hands. In this context, the most demanding technical challenges are: motoric capabilities and related design aspects, overall weight and size, and tactile and other perceptual capabilities. Also, to make the gripper industry acceptable, it should be in affordable price range. Having all that in mind, concept of the multifingered under-actuated hand appears as good candidate to be an optimal, general purpose solution. This paper presents the general conceptual framework for development of multifingered hands which are based on under-actuation principle.", journal = "Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94", title = "Multifingered under-actuated hands in robotic assembly", pages = "94-91", url = "https://hdl.handle.net/21.15107/rcub_machinery_6185" }
Matijašević, L., Milivojević, M.,& Petrović, P.. (2018). Multifingered under-actuated hands in robotic assembly. in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94, 91-94. https://hdl.handle.net/21.15107/rcub_machinery_6185
Matijašević L, Milivojević M, Petrović P. Multifingered under-actuated hands in robotic assembly. in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94. 2018;:91-94. https://hdl.handle.net/21.15107/rcub_machinery_6185 .
Matijašević, Lazar, Milivojević, Miloš, Petrović, Petar, "Multifingered under-actuated hands in robotic assembly" in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94 (2018):91-94, https://hdl.handle.net/21.15107/rcub_machinery_6185 .