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

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This study introduces novel underactuated grippers capable of grasping and pulling objects using a single actuator. A new pneumatic gripper design overcomes limitations of previous models, enabling secure object manipulation.

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differential mechanismin-hand manipulationpneumatic gripperrobotic grippersensor-lessunderactuation

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Mechatronics

Background:

  • Conventional grippers often require multiple actuators for complex manipulation tasks.
  • Underactuated grippers offer a more compact and efficient solution by performing multiple actions with fewer actuators.
  • Existing underactuated designs face challenges in secure object handling and manipulation speed.

Purpose of the Study:

  • To propose and design underactuated grippers capable of both grasping and pulling objects.
  • To develop a novel pneumatic gripper that enhances object manipulation capabilities.
  • To investigate the design methodology for grippers performing advanced manipulation.

Main Methods:

  • Development of two underactuated gripper prototypes: one DC motor-driven with planetary gears, and one pneumatically driven.
  • Implementation of a belt-driven finger surface for the motor-driven gripper and a linear slider with an air cylinder for the pneumatic gripper.
  • Design of an advanced pneumatic gripper incorporating a speed control valve, relief valve, and non-return valves.

Main Results:

  • The motor-driven gripper demonstrated grasping and pulling but suffered from object slippage and slow speeds.
  • The initial pneumatic gripper design showed promise but had limitations in precise manipulation.
  • The novel pneumatic gripper successfully achieved secure pulling after grasping and controlled opening after pushing.

Conclusions:

  • Underactuated grippers can effectively perform complex manipulation tasks like grasping and pulling with a single actuator.
  • The proposed pneumatic gripper design offers superior performance in terms of secure object handling and operational efficiency.
  • Experimental validation with diverse objects confirms the practical applicability of the developed underactuated gripper technology.