Design of a three-finger end effector for optimal grip

This paper presents the design of a three-fingered gripper with two degrees of freedom (DOF) per finger for a total of six (DOF). We show a brief mathematical description of the kinematics involved in the gripper with which to determine the workspace. With the workspace, all possible attachment poin...

Full description

Autores:
Prada, Vladimir
Avilés, Oscar
Mauledoux, Mauricio
Tipo de recurso:
Article of journal
Fecha de publicación:
2014
Institución:
Universidad Nacional de Colombia
Repositorio:
Universidad Nacional de Colombia
Idioma:
spa
OAI Identifier:
oai:repositorio.unal.edu.co:unal/72677
Acceso en línea:
https://repositorio.unal.edu.co/handle/unal/72677
http://bdigital.unal.edu.co/37151/
Palabra clave:
Grasp
Gripper
NSGA
Optimization
Robotic
Screws
Rights
openAccess
License
Atribución-NoComercial 4.0 Internacional