Numerical and Experimental Testing of Underwater Gripper with Adjustable Stiffness Joints

This paper presents numerically and experimentally obtained results for an underwater multi-joint gripper for which joint stiffness can be adjusted using a differential gear mechanism. By adjusting the joint stiffness, the gripper can achieve an enveloping grasp of various objects. First, we numeric...

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Bibliographic Details
Published in2020 IEEE/SICE International Symposium on System Integration (SII) pp. 1118 - 1122
Main Authors Sakagami, Norimitsu, Takeuchi, Keita, Koganezawa, Koichi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2020
Subjects
Force
Gears
Grasping
Grippers
Mathematical model
Springs
Torque
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Summary:This paper presents numerically and experimentally obtained results for an underwater multi-joint gripper for which joint stiffness can be adjusted using a differential gear mechanism. By adjusting the joint stiffness, the gripper can achieve an enveloping grasp of various objects. First, we numerically investigated the grasping performance based on equations of motion including the hydrodynamic effects. Additionally, we conducted preliminary experiments to assess the gripper performance in a circulating water tank. From the numerical and experimentally obtained results, we confirmed that the gripper can maintain its posture and hold an object stably, even in water flows.
ISSN:2474-2325
DOI:10.1109/SII46433.2020.9025809