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- W2951100922 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 using a bimanual robot." @default.
- W2951100922 created "2019-06-27" @default.
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- W2951100922 date "2018-07-30" @default.
- W2951100922 modified "2023-09-25" @default.
- W2951100922 title "A Double Jaw Hand Designed for Multi-object Assembly" @default.
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- W2951100922 doi "https://doi.org/10.48550/arxiv.1807.11345" @default.
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