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In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but also manipulation by a palm of the hand. We introduce performance of the proposed linkage by a static...
Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and...
In this study, we consider the development of a device for handling small parts for automatic product assembly in factories. Many robotic hands and one-degree-of-freedom grippers have been proposed as grasping parts; here, we focus on the shape of the tips of a handling device for picking up small parts robustly and agilely. In this research, we propose a concept for a handling device for picking...
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