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Evaluation of Usability of a 3-DOF Linkage-Driven Robotic Gripper Through Grasping Experiments
- Kim, Sang hwa;
- Ahmad, Khan M.Umair;
- Kang, Long;
- Seo, Jong tae;
- Yi, Byung ju;
- ... Choi, Youngjin;
- ... Lee, Sungon;
- ... Lee, Ji yeong
Citations
WEB OF SCIENCE
2Citations
SCOPUS
1초록
Conventional dexterous grippers are not only heavy and complex but also task dependent. As a result, they cannot provide power, intermediate and precision grasping together. We propose usability evaluation of a novel gripper mechanism which can provide 1-Degree of Freedom (DOF) parallel grasping and 2-DOF independent pinching by using a closed chain architecture. The usability of our design and one commercial product has been evaluated based on various grasping tasks: adaptive grasping, parallel pinching grasping, independent pinching grasping and contact grasping. The success rate has been evaluated to validate the excellent usability of the proposed 3-DOF gripper. © 2020 IEEE.
키워드
Agricultural robots; Grippers; Product design; Robotics; Usability engineering; Closed-chains; Commercial products; Robotic grippers; Usability evaluation; Social robots; DESIGN
- 제목
- Evaluation of Usability of a 3-DOF Linkage-Driven Robotic Gripper Through Grasping Experiments
- 저자
- Kim, Sang hwa; Ahmad, Khan M.Umair; Kang, Long; Seo, Jong tae; Yi, Byung ju; Choi, Youngjin; Lee, Sungon; Lee, Ji yeong
- 발행일
- 2020-08
- 유형
- Conference Paper
- 저널명
- IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
- 페이지
- 266 ~ 271
- 언어
- ENG
- 발행국가
- 미국
- 분량
- 6 페이지
- ISSN
- E 1944-9437
P 1944-9445