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Design of a three-finger end effector for optimal grip

Prada, Vladimir and Avilés, Oscar and Mauledoux, Mauricio (2014) Design of a three-finger end effector for optimal grip. DYNA; Vol. 81, núm. 184 (2014); 93-101 Dyna; Vol. 81, núm. 184 (2014); 93-101 2346-2183 0012-7353 .

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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 points are obtained, that will be the points at which the end-effector contacts with the object geometry. To select which of these points is best for hold the object, we proceed to evaluate the force that is exerted on it by mathematical theory called Screw. This force should be the minimum to ensure that do not present sliding as well as avoid damages of the object by excess strength. Due to the fact that the contact points are numerous and evaluate them takes quite time by an algorithm combining, for this reason the optimization algorithm Non-dominated Sorting Genetic Algorithm (NSGA) is implemented. The results of the optimization with attachment points that exert minimal force were presented.

Tipo de documento:Artículo - Article
Información adicional:Derechos de autor reservados
Palabras clave:Grasp, Gripper, NSGA, Optimization, Robotic, Screws
Unidad administrativa:Revistas electrónicas UN > Dyna
Código ID:37151
Enviado por : Dirección Nacional de Bibliotecas STECNICO
Enviado el día :02 Julio 2014 20:58
Ultima modificación:27 Noviembre 2017 22:14
Ultima modificación:27 Noviembre 2017 22:14
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