Passive and Active Grasping with a Prehensile Robot End-Effector.

Abstract

This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1990
Accession Number
ADA235085

Entities

People

  • Helen Greiner

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Acquisition
  • Amplifiers
  • Autonomous Systems
  • Control Systems
  • Engineering
  • Failure Mode And Effect Analysis
  • Friction
  • Gages
  • Geometry
  • Jet Propulsion
  • Kinematics
  • Load Cells
  • Materials
  • Measurement
  • Mechanical Engineering
  • Servoamplifiers
  • Strain Gages

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy