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Evaluation of Usability of a 3-DOF Linkage-Driven Robotic Gripper Through Grasping Experiments
- Authors
- Kim, Sang hwa; Ahmad, Khan M.Umair; Kang, Long; Seo, Jong tae; Yi, Byung ju; Choi, Youngjin; Lee, Sungon; Lee, Ji yeong
- Issue Date
- Aug-2020
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, pp 266 - 271
- Pages
- 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
- Start Page
- 266
- End Page
- 271
- ISSN
- 1944-9445
1944-9437
- Abstract
- Conventional dexterous grippers are not only heavy and complex but also task dependent. As a result, they cannot provide power, intermediate and precision grasping together. We propose usability evaluation of a novel gripper mechanism which can provide 1-Degree of Freedom (DOF) parallel grasping and 2-DOF independent pinching by using a closed chain architecture. The usability of our design and one commercial product has been evaluated based on various grasping tasks: adaptive grasping, parallel pinching grasping, independent pinching grasping and contact grasping. The success rate has been evaluated to validate the excellent usability of the proposed 3-DOF gripper. © 2020 IEEE.
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Related Researcher
- Choi, Youngjin
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)