With Actuation Mode Switching
A Joint-Selective Robotic Gripper
with Actuation Mode Switching
Concept Design System Requirements
High Payload Capacity –Grasping things of a weight comparable to a beer case. Grasping Force of 100N.
Differentiated Grasping Behaviour – Moderate dexterity. Fully actuated System with many DOF.
Compact Actuation Unit for end effector design. Minimum size and number of motors.
high accuracy and dexterity
High accuracy and dexterity with a very good grasping performance , high payload capacity of 70N, compact and lightweight actuation unit allows high relevance for industry applications and other mechanical robotic systems.
Concept design – technical requirements
State of the art.
High Payload Capacity = Large & heavy Actuators
Fully Actuated System with many DOF= High # Actuators (DOA)
Compactness + Light Weight
Roboy Project Requirements:
Actuation via electrical motors
3D printing and CAD-Modelling
Realization – finger design
Grasping oriented functional design-maximization of the force of the hand
Strength to hold things up to 10 kg
An optimized range of movement (downscaling of the actual 20 DOF in the human hand ) for grasping
Different configurations of grasping (cylindrical, spherical, lateral) → realization of different ways of grasping
Maximization of the “outcome force of the hand” (a distinction between intrinsic hand forces and hand-wrist force), while minimizing the number of actuators