Development of the Gripper for the handwheel and the knob

Title
Development of the Gripper for the handwheel and the knob
Authors
이우섭안병철최동은이수철
Keywords
Grippers; Robots; Fasteners; Lead; Force; Springs; Pins
Issue Date
2020-06
Publisher
International Conference on Ubiquitous Robots
Abstract
It is difficult for human beings to enter the dangerous terrain and to work there. In those places, robots work better than human beings do. To move into the place, the robots should have the appropriate gripper to unlock the door inside. In this paper, we have developed a robotic gripper that is able to hold a handwheel and a knob. This gripper is one degree of freedom system and compact design using lead screws but it has two motions such as the translational motion and the modified hyperbolic motion. Since the linkage of gripper has the translational motion in the axial direction, the gripper has much force than other grippers which are operated rotational direction. We have analyzed the geometric properties of the gripper to determine the optimal dimensions of the gripper link. Then, we present experimental results of sleeplessly opening doors with two handle types, such as a handwheel and a knob, using our novel gripper.
URI
http://pubs.kist.re.kr/handle/201004/72594
ISSN
-
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE