Lightweight, High-Force Gripper Inspired by Chuck Clamping Devices

Toshihiro Nishimura; Masanari Tennomi; Yosuke Suzuki; Tokuo Tsuji; Tetsuyou Watanabe

RA-L 201829 citations

Lightweight, High-Force Gripper Inspired by Chuck Clamping Devices

Toshihiro Nishimura, Masanari Tennomi, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

Abstract

In this letter, we present a novel gripper, whose design was inspired by chuck clamping devices, for transferring heavy objects and assembling parts precisely in industrial applications. The developed gripper is lightweight (0.9 kg), can manipulate heavy payloads (over 23 kgf), and can automatically align its position and posture via a grasping motion. A fingertip design criterion is presented for the position alignment, while a control strategy is presented for the posture alignment. With one actuator, this gripper realized the above features. This letter describes the mathematical analyses and experiments used to validate these key metrics.

BibTeX

@inproceedings{ral2018_lightweighthighf,
  title = {Lightweight, High-Force Gripper Inspired by Chuck Clamping Devices},
  author = {Toshihiro Nishimura and Masanari Tennomi and Yosuke Suzuki and Tokuo Tsuji and Tetsuyou Watanabe},
  booktitle = {RA-L 2018},
  year = {2018}
}