Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

Akinari Kobayashi; Kengo Yamaguchi; Jun Kinugawa; Shogo Arai; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2017.8206012

Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.

Original language	English
Title of host publication	IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1937-1942
Number of pages	6
ISBN (Electronic)	9781538626825
DOIs	https://doi.org/10.1109/IROS.2017.8206012
Publication status	Published - 2017 Dec 13
Event	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 2017 Sept 24 → 2017 Sept 28

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2017-September
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/Territory	Canada
City	Vancouver
Period	17/9/24 → 17/9/28

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2017.8206012

Cite this

Kobayashi, A., Yamaguchi, K., Kinugawa, J., Arai, S., Hirata, Y., & Kosuge, K. (2017). Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1937-1942). [8206012] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206012

Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). / Kobayashi, Akinari; Yamaguchi, Kengo; Kinugawa, Jun et al.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1937-1942 8206012 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, A, Yamaguchi, K, Kinugawa, J, Arai, S, Hirata, Y & Kosuge, K 2017, Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206012, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 1937-1942, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8206012

Kobayashi A, Yamaguchi K, Kinugawa J, Arai S, Hirata Y, Kosuge K. Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1937-1942. 8206012. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2017.8206012

Kobayashi, Akinari ; Yamaguchi, Kengo ; Kinugawa, Jun et al. / Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1937-1942 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.",

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AU - Kobayashi, Akinari

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AB - This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and control of the grip force, a relationship was derived between the grip and actuation forces by using an analytical method based on the principle of virtual power. Finally, theoretical values of the grip force were calculated according to the analysis, and the actual grip force was measured experimentally. The experimental results show the validity of the analysis.

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Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

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