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Critical Review and Progress of Adaptive Controller Design for Robot Arms Read chapter Read first chapter

2017 | OriginalPaper | Chapter

New Reactionless Spatial Grasper Design and Analysis

Authors : Dan Zhang, Bin Wei

Published in: Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Publisher: Springer International Publishing

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Abstract

A new reactionless spatial grasper is proposed and designed based on the principal vector linkage. In the literature, few dynamic balanced spatial grasp mechanisms can be found and here a new reactionless spatial grasper is designed. Through using the pantographs, the center of mass of the grasper mechanism is fixed at a still point, and through symmetrical structure design of the four fingers, it is moment balanced. The advantages of the proposed reactionless grasper mechanism and the design process are discussed and the principal dimensions are derived.

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previous chapter An Imitation Framework for Social Robots Based on Visual Input, Motion Sensation, and Instruction
next chapter Tracking and Vibration Control of a Carbon Nanotube Reinforced Composite Robotic Arm
Literature
Dollar, A. M., & Howe, R. D. (2005a). Design and evaluation of a robust compliant grasper using shape deposition manufacturing. In Proceedings of ASME International Mechanical Engineering Congress and Exposition, USA.
Dollar, A. M., & Howe, R. D. (2005b). Towards grasping in unstructured environments: Grasper compliance and configuration optimization. Advanced Robotics, 19(5), 523–543.CrossRef
Hanley, H., Rosario, M., & Chen, Y., et al. (2011). Design and testing of a three fingered flexural laparoscopic grasper. In Proceedings of the 2011 Design of Medical Devices Conference, USA.
Kragten, G. (2011). Underactuated hands fundamentals, performance analysis and design (Thesis). Delft University of Technology.
Remirez, A. A., Lathrop, R. A., Russell III, P. T., & Webster III, R. J. (2014). Design of a stiff steerable grasper for sinus surgery. In Proceedings of the 2014 Design of Medical Devices Conference, USA.
Stavenuiter, R. A. J. (2013). Design of an underactuated grasper with adjustable compliance (Thesis). Delft University of Technology.
Wijk, V. (2014). Methodology for analysis and synthesis of inherently force and moment-balanced mechanisms—Theory and applications (Thesis). University of Twente.
Metadata
Title
New Reactionless Spatial Grasper Design and Analysis
Authors
Dan Zhang
Bin Wei
Copyright Year
2017
Book
Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Print ISBN: 978-3-319-33580-3

Electronic ISBN: 978-3-319-33581-0

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-33581-0_19