PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation
Name
2020-IROS-PnuGrip-final-prePrint.pdf
Description
Accepted version
Size
5.12 MB
Format
Adobe PDF
Checksum (MD5)
a81e5805c7acad303360bf2de941b50f
Author(s)
Taylor, Ian H
Chavan-Dafle, Nikhil
Li, Godric
Doshi, Neel
Rodriguez, Alberto
Date Issued
2020
Journal
IEEE International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Taylor, Ian H, Chavan-Dafle, Nikhil, Li, Godric, Doshi, Neel and Rodriguez, Alberto. 2020. "PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation." IEEE International Conference on Intelligent Robots and Systems.
Version
Author's final manuscript
Abstract
© 2020 IEEE. We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-bandwidth (5 Hz) phase transitions independent of the grasping force for manipulation of a variety of objects. Moreover, its thin profile (1 cm) facilitates picking and placing in clutter. Finally, the design features a sensor for measuring fingertip rotation to support feedback control. We experimentally characterize the finger's load handling capacity in the brake phase and rotational resistance in the free phase. We also demonstrate several pick-and-place manipulations common to industrial and laboratory automation settings that are simplified by our design.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS45743.2020.9340751
