Scopus
YÖKSİS DOI Eşleşti
SJR Q1
Evaluation of grasp capability of a gripper driven by optimal spherical mechanism
Mechanism and Machine Theory · Aralık 2021
YÖKSİS Kayıtları
Evaluation of grasp capability of a gripper driven by optimal spherical mechanism
Mechanism and Machine Theory · 2021 SCI-Expanded
Dr. Öğr. Üyesi OSMAN ACAR →
YÖKSİS Kayıtları — ISSN Eşleşmesi
Evaluation of grasp capability of a gripper driven by optimal spherical mechanism
2021 ISSN: 0094-114X SCI-Expanded Q1
Dr. Öğr. Üyesi OSMAN ACAR →
Makale Bilgileri
ISSN0094114X
Yayın TarihiAralık 2021
Cilt / Sayfa166
Scopus ID2-s2.0-85111937193
Özet
This paper evaluates grasp capability of a new three-fingered gripper driven by optimal spherical four-link mechanism design. The optimal mechanism provided a trajectory that is approximately a grate circle arc. Therefore, independently driven three fingers of prototype either surround or compress an object with only one degree of freedom for each finger. Thus, the gripper provided both force-closure and form-closure grasp. The force variation of fingertip along the trajectory was presented comparative to calculations for 32 static cases of grasped cylindrical objects. Regression analysis between calculated values and measured data showed %99 reliability. The mechanism provided contact force between 155-215 N along the trajectory. The lifting load capability of the gripper without slip on ceramic surface with low friction was measured by using a commercial single side rubber band on the fingertips. 9 ± 0.05 kg lift capability for cylindrical objects without slip was observed. The prototype was tested for 11 grasp operations and 8 objects with various geometry. Each of the test showed success in the first grasp trial.
Yazarlar (3)
1
Osman Acar
2
Haci Sağlam
ORCID: 0000-0002-6598-8262
3
Ziya Şaka
Anahtar Kelimeler
Contact force
Grasping test
Robotic gripper
Spherical mechanism
Static analysis
Kurumlar
Konya Technical University
Konya Turkey
Selçuk Üniversitesi
Selçuklu Turkey
Scimago Dergi (ISSN Eşleşmesi)
Mechanism and Machine Theory
Q1
SJR Skoru1,574
H-Index142
YayıncıElsevier Ltd
ÜlkeUnited Kingdom
Bioengineering (Q1)
Computer Science Applications (Q1)
Mechanical Engineering (Q1)
Mechanics of Materials (Q1)
Metrikler
18
Atıf
3
Yazar
5
Anahtar Kelime