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Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects

This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gr...

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Detalles Bibliográficos
Autores principales: Kakogawa, Atsushi, Kaizu, Yuki, Ma, Shugen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7937728/
https://www.ncbi.nlm.nih.gov/pubmed/33693032
http://dx.doi.org/10.3389/frobt.2021.631242
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author Kakogawa, Atsushi
Kaizu, Yuki
Ma, Shugen
author_facet Kakogawa, Atsushi
Kaizu, Yuki
Ma, Shugen
author_sort Kakogawa, Atsushi
collection PubMed
description This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. However, the object tends to fall when placing because it opens the finger before pushing out the object during the reversed movement. In addition, the closing speed and the picking-up speed of the fingers are slow due to the high reduction gear. To solve these drawbacks, a new pneumatic gripper by combining three valves, a speed control valve, a relief valve, and non-return valves, is proposed. The proposed pneumatic gripper is superior in the sense that it can perform pulling-up after grasping the object and opening the fingers after pushing-out the object. In the present paper, a design methodology of the different underactuated grippers that can not only grasp but also pull up objects is discussed. Then, to examine the performance of the grippers, experiments were conducted using various objects with different rigidity, shapes, size, and mass, which may be potentially available in real applications.
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spelling pubmed-79377282021-03-09 Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects Kakogawa, Atsushi Kaizu, Yuki Ma, Shugen Front Robot AI Robotics and AI This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. However, the object tends to fall when placing because it opens the finger before pushing out the object during the reversed movement. In addition, the closing speed and the picking-up speed of the fingers are slow due to the high reduction gear. To solve these drawbacks, a new pneumatic gripper by combining three valves, a speed control valve, a relief valve, and non-return valves, is proposed. The proposed pneumatic gripper is superior in the sense that it can perform pulling-up after grasping the object and opening the fingers after pushing-out the object. In the present paper, a design methodology of the different underactuated grippers that can not only grasp but also pull up objects is discussed. Then, to examine the performance of the grippers, experiments were conducted using various objects with different rigidity, shapes, size, and mass, which may be potentially available in real applications. Frontiers Media S.A. 2021-02-22 /pmc/articles/PMC7937728/ /pubmed/33693032 http://dx.doi.org/10.3389/frobt.2021.631242 Text en Copyright © 2021 Kakogawa, Kaizu and Ma. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY) (http://creativecommons.org/licenses/by/4.0/) . The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Kakogawa, Atsushi
Kaizu, Yuki
Ma, Shugen
Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title_full Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title_fullStr Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title_full_unstemmed Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title_short Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
title_sort sensor-less and control-less underactuated grippers with pull-in mechanisms for grasping various objects
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7937728/
https://www.ncbi.nlm.nih.gov/pubmed/33693032
http://dx.doi.org/10.3389/frobt.2021.631242
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AT mashugen sensorlessandcontrollessunderactuatedgripperswithpullinmechanismsforgraspingvariousobjects