A robust compliant grasper via shape deposition manufacturing

被引：184

作者：

Dollar, AM ^{[1
]}

Howe, RD ^{[1
]}

机构：

[1] Harvard Univ, Div Engn & Appl Sci, Cambridge, MA 02138 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2006年 / 11卷 / 02期

关键词：

rapid prototyping; robotic grasping; robot hand design; shape deposition manufacturing; unstructured environments;

D O I：

10.1109/TMECH.2006.871090

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Joint compliance can enable successful robot grasping despite uncertainties in target object location. Compliance also enhances manipulator robustness by minimizing contact forces in the event of unintended contacts or impacts. In this paper, we describe the design, fabrication, and evaluation of a novel compliant robotic grasper constructed using polymer-based shape deposition manufacturing. Joints are formed by elastomeric flexures, and actuator and sensor components are embedded in tough rigid polymers. The result is a robot gripper with the functionality of conventional metal prototypes for grasping in unstructured environments but with robustness properties that allow for large forces due to inadvertent contact.

引用

页码：154 / 161

页数：8

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