Multifingered grabbers as smart structures for robotic applications

Mohsen Shahinpoor

doi:10.1117/12.237092

26 April 1996 Multifingered grabbers as smart structures for robotic applications

Mohsen Shahinpoor

Proceedings Volume 2779, 3rd International Conference on Intelligent Materials and 3rd European Conference on Smart Structures and Materials; (1996) https://doi.org/10.1117/12.237092
Event: 3rd International Conference on Intelligent Materials, 1996, Lyon, France

Abstract

Presented first is a novel design for a class of multi-fingered robotic grabbers capable of rapidly deploying their robotic fingers to grab moving objects within their workspace. A simple mathematical model is then presented for computer-graphic simulation of such multi-fingered robotic grabbers. Finally, some experimental results pertaining to dynamic perfomance and control of a number of robotic grabbers fabricated in our laboratory are presented. The dynamic performance of these types of rapidly deployable multi-fingered robotic grabbers have been observed to be quite remarkable and consistent with the proposed computer simulation model.

Citation Download Citation

Mohsen Shahinpoor "Multifingered grabbers as smart structures for robotic applications", Proc. SPIE 2779, 3rd International Conference on Intelligent Materials and 3rd European Conference on Smart Structures and Materials, (26 April 1996); https://doi.org/10.1117/12.237092

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