dc.creator | Matijašević, Lazar | |
dc.creator | Petrović, Petar | |
dc.date.accessioned | 2023-03-14T17:10:27Z | |
dc.date.available | 2023-03-14T17:10:27Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 978-86-7466-785-9 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/6210 | |
dc.description.abstract | At present-day manufacturing and assembly lines,
fairly simple mechanism grippers are used. On the other hand,
growing demand for customized products that are mass
produced, require flexible, multipurpose grippers that are
capable of grasping complex objects of different sizes and
shapes. In order for robotic hand to be industry acceptable it
needs to be robust, easy to control and most importantly it
needs to be affordable price-wise. With that in mind concept of
multifingered underactuated robotic hand appears as a good
candidate to be optimal, general purpose solution.
Underactuation as a concept allows robotic hands to grip
arbitrary shaped objects without the need for complex control
and sensory systems. Also, with less actuators than degrees of
freedom multifingered underactuated robotic hand is more
affordable and from robot arm carrying capacity standpoint,
actuators with less weight allows robotic systems to move faster
or to carry heavier loads. For this research linkage driven
underactuated mechanisms are chosen because of their rigidity
and that trait makes control system more reliable and easier to
make thus making whole robotic system more robust and
reliable. This paper presents some aspects of design and
grasping force analysis of three degrees of freedom (3-DoF)
underactuated robotic finger with linkage driven mechanism
for CMSysLab Robotic Hand. | sr |
dc.language.iso | en | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35007/RS// | sr |
dc.rights | openAccess | sr |
dc.source | 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June 2019., 2019, 730-735 | sr |
dc.subject | Robotic assembly | sr |
dc.subject | Robotic Hand | sr |
dc.subject | Design | sr |
dc.subject | Underactuation | sr |
dc.title | Underactuated Finger Design for Flexible Grasping in Robotic Assembly | sr |
dc.type | conferenceObject | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 735 | |
dc.citation.spage | 730 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/15488/IcEtran_2019_ceo.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_6210 | |
dc.type.version | publishedVersion | sr |