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...
- 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