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- W2883156635 abstract "This paper presents a double jaw hand for industrial assembly. The hand comprises two orthogonal parallel grippers with different mechanisms. The inner gripper is made of a crank-slider mechanism which is compact and able to firmly hold objects like shafts. The outer gripper is made of a parallelogram that has large stroke to hold big objects like pulleys. The two grippers are connected by a prismatic joint along the hand's approaching vector. The hand is able to hold two objects and perform in-hand manipulation like pull-in (insertion) and push-out (ejection). This paper presents the detailed design and implementation of the hand, and demonstrates the advantages by performing experiments on two sets of peg-in-multi-hole assembly tasks as parts of the World Robot Challenge (WRC) 2018 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>a</sup> http://worldrobotsummit.org/en/programs/challenge/ using a bimanual robot." @default.
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- W2883156635 date "2018-11-01" @default.
- W2883156635 modified "2023-09-26" @default.
- W2883156635 title "A Double Jaw Hand Designed for Multi-Object Assembly" @default.
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- W2883156635 doi "https://doi.org/10.1109/humanoids.2018.8625049" @default.
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