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Document type:
Konferenzbeitrag 
Author(s):
Katharina Hermann, Rafael Hostettler, Markus Zimmermann, Anand Vazhapilli Sureshbabu 
Title:
A Joint-Selective Robotic Gripper with Actuation Mode Switching 
Abstract:
Robotic grippers in research and industry make constant trade-offs between payload capacity, dexterity, cost and performance. We try to address all these problems together by developing a dual mode gripper that can switch between a fully actuated precision mode and a grasping mode. In the underactuated grasping mode, the gripper digits conform to the shape of an object and then switches to the fully actuated precision mode, where each joint is individually locked, leading to a fully actuated gri...    »
 
Keywords:
end-effector, design, grasping, manipulation, actuation, mode-switching 
Book / Congress title:
IEEE 15th International Conference on Automation Science and Engineering (CASE) 
Date of congress:
22-26 August 2019 
Publisher:
IEEE 
Year:
2019 
Quarter:
3. Quartal 
Year / month:
2019-08 
Month:
Aug 
Covered by:
Scopus 
Semester:
SS 19