Prototype Parallel Gripper Mechanism Equipped with Assisting Grippers for Small Object Grasping and Experimental Validation소형 물체 파지를 위해 보조 그리퍼가 장착된 프로토 타입 평행 그리퍼 메커니즘 및 실험적 검증
- Other Titles
- 소형 물체 파지를 위해 보조 그리퍼가 장착된 프로토 타입 평행 그리퍼 메커니즘 및 실험적 검증
- Authors
- 강효재; 유서현; 이용재; 강민성
- Issue Date
- Feb-2024
- Publisher
- 한국로봇학회
- Keywords
- Gripper; Grasping; Mechanical Design; Small Object Manipulation
- Citation
- 로봇학회 논문지, v.19, no.1, pp 58 - 64
- Pages
- 7
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 19
- Number
- 1
- Start Page
- 58
- End Page
- 64
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/118624
- DOI
- 10.7746/jkros.2024.19.1.058
- ISSN
- 1975-6291
2287-3961
- Abstract
- The ability of the robot gripper to handle a wide range of objects significantly impacts its operational effectiveness. Among the robot grippers commonly used, the economically feasible choice is the relatively simple structure of a parallel gripper. To perform more densely packed tasks with a parallel gripper, it should be capable of handling small objects. Therefore, this study designs a parallel gripper mechanism equipped with assisting grippers to ensure smooth grasping of small objects. The parallel gripper is designed using a rack and pinion gear system, with two additional grippers on both side, and these assisting grippers are designed to be detachable. The two assisting grippers have different type of tip to grasp thin fabric shapes and thin stick shapes. The gripper prototype is used to verify the grasping capabilities for shapes achievable with a conventional parallel gripper and those intended for grasping with the assisting grippers through grasping experiments. Consequently, by equipping a conventional parallel gripper with assisting grippers as in this study, it becomes capable of handling a broader range of objects, in addition to its existing functionality.
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