Sage Journals: Discover world-class research

Abstract

In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic pre-shaping problem.

Get full access to this article

View all access options for this article.

References

Allen, P. K., Timocenko, A., Yoshimi, B., and Michelman, P. 1993. Automated tracking and grasping of a moving object with a robotic hand-eye system . IEEE Transactions on Robotics and Automation 9(2): 152-165 .

Bonivento, C., Caselli, S., Faldella, E., Melchiori, C., and Tonielli, A. 1988. Control system design of a dexterous hand for industrial robots . Preprint of IFAC Symposium on Robot Control, pp. 38.1-38.6 .

Butterfass, J., Knoch, S., Lin, H., and Hirzinger, G. 1998. DLR’s multisensory articulated hand. Part 1: hard- and software architecture . Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 2081-2086 .

Butterfass, J., Grebenstein, M., Lin, H., and Hirzinger, G. 2001. DLR-hand II: next generation of a dexterous robot hand . Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, pp. 109-114 .

Doll, T. J. and Scneebeli, H. J. 1988. The Karlsruhe hand . Preprint of IFAC Symposium on Robot Control, pp. 37.1-37.6 .

Hirose, S. and Umetani, Y. 1983. Soft gripper . Proceedings of the ISIR, pp. 112-127 .

Hong, W. and Slotine, J. E. 1997. Experiments in hand-eye coordination using active vision . Lecture Notes in Control and Information Sciences, Vol. 223, Springer-Verlag, Berlin, pp. 130-139 .

Jacobsen, S. C., Iversen, E. K., Knutti, D. F., Johnson, R. T., andBiggers, K.B. 1982. DesignoftheUtah/MITdexterous hand . Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1520-1532 .

Kaneko, M., Higashimori, M., Takenaka, R., Namiki, A., and Ishikawa, M. 2003. The 100G capturing robot - too fast to see . IEEE Transactions on Mechatronics 8(1): 37-44 .

10.

Kawamura, S., Choe, W., Tanaka, S., and Pandian, S. R. 1995. Development of an ultra high-speed robot FALCON using wire drive system . Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 215-220 .

11.

Namiki, A., Nakabo, Y., Ishii, I., and Ishikawa, M. 2000. 1-ms sensory-motor fusion system . IEEE Transactions on Mechatronics 5(3): 244-253 .

12.

Okada, T. 1979. Object-handling system for manual industry . IEEE Transactions on Systems, Man, and Cybernetics 2: 79-86 .

13.

Paetsch, W. and Kaneko, M. 1990. Three-fingered, multi-jointed gripper for experimental use . Proceedings of the IEEE International Workshop on Intelligent Robots and Systems, pp. 853-858 .

14.

Salisbury, J. K. and Craig, J. J. 1982. Articulated hands: force and kinematics issues . International Journal of Robotics Research 1(1): 1-10 .

15.

Townsend, W. T. 1988. The Effect of Transmission Design on Force-Controlled Manipulator Performance. Ph.D. Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.

16.

Uchiyama, M., Sadotomo, T., and Masukawa, K. 1996. Dynamic control experiment on a parallel robot HEXA . Journal of the Robotics Society of Japan 14(2): 297-304 .

Design of the 100G Capturing Robot Based on Dynamic Preshaping

Abstract

Get full access to this article

References