Passive and Active Grasping with a Prehensile Robot End-Effector

Title: en_US Passive and Active Grasping with a Prehensile Robot End-Effector
Creator: en_US Greiner, Helen
Date: 2004-10-20T20:23:00Z
Date Available: 2004-10-20T20:23:00Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1235
uri: http://hdl.handle.net/1721.1/7032
Abstract: en_US This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design with only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.
Extent: 7356425 bytes; 2609550 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1235