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

doi:10.1109/RO-MAN47096.2020.9223592

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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

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초록

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

DOI: 10.1109/RO-MAN47096.2020.9223592

발행일: 2020-08

유형: Conference Paper

저널명: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

페이지: 266 ~ 271