Matches in SemOpenAlex for { <https://semopenalex.org/work/W3138732012> ?p ?o ?g. }
- W3138732012 endingPage "1618" @default.
- W3138732012 startingPage "1604" @default.
- W3138732012 abstract "Recently, various soft universal grippers have been developed due to their reduced control complexity and satisfying grasping capability. The gripping range of a gripper plays a key role in its universality. This article presents a pneumatically actuated soft-rigid hybrid multifinger gripper that has a wide gripping range by adjusting its initial grasp postures. The gripper is compact (dimensions: <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$text{100} times text{60} times text{170}$</tex-math></inline-formula> mm), lightweight (weight: 380 g), and modular. It consists of four modules, with each module containing three pneumatic actuators (a distance-adjusting actuator, an angle-adjusting actuator, and a finger actuator) and rigid connectors. Through initial grasp posture adjustment, and fingers with tapered angles to generate nonconstant bending while grasping, the gripper can grasp objects of a wide variety of sizes and weights, thus increasing its universality. The gripper is tested to characterize its distance adjustment range, angle adjustment range, and stiffnesses in load-bearing directions, at continuously changing pneumatic pressures. The distance adjustment range and angle adjustment range of the gripper are 0–64.4 mm (64.4% of the initial gripper length) and 0 <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$^{circ}$</tex-math></inline-formula> –140 <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$^{circ}$</tex-math></inline-formula> , respectively. The maximum stiffnesses of distance-adjusting actuator and angle-adjusting actuator are 3331 and 1.15 N <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$cdot$</tex-math></inline-formula> m/rad, respectively. Finally, grasping experiments show that our gripper can successfully grasp objects with diameters ranging from 0.5 to 180 mm, lengths ranging from 10 to 325 mm, and the heaviest object it can grasp is 2.1 kg (more than five folds of its own weight). The results demonstrated that our pneumatic gripper has an increased gripping range without adding other types of energy sources and its enhanced universality will expedite various applications in daily life and industry." @default.
- W3138732012 created "2021-03-29" @default.
- W3138732012 creator A5006520303 @default.
- W3138732012 creator A5038947566 @default.
- W3138732012 creator A5047496968 @default.
- W3138732012 creator A5057344646 @default.
- W3138732012 creator A5059446722 @default.
- W3138732012 date "2021-10-01" @default.
- W3138732012 modified "2023-10-14" @default.
- W3138732012 title "Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures" @default.
- W3138732012 cites W1515749184 @default.
- W3138732012 cites W1888892744 @default.
- W3138732012 cites W1984187759 @default.
- W3138732012 cites W2029744358 @default.
- W3138732012 cites W2048058874 @default.
- W3138732012 cites W2054427316 @default.
- W3138732012 cites W2144573888 @default.
- W3138732012 cites W2154963933 @default.
- W3138732012 cites W2155337985 @default.
- W3138732012 cites W2166585449 @default.
- W3138732012 cites W2171995939 @default.
- W3138732012 cites W2273215869 @default.
- W3138732012 cites W2296718990 @default.
- W3138732012 cites W2507460368 @default.
- W3138732012 cites W2512216316 @default.
- W3138732012 cites W2556078315 @default.
- W3138732012 cites W2560704029 @default.
- W3138732012 cites W2560730116 @default.
- W3138732012 cites W2577404187 @default.
- W3138732012 cites W2605221221 @default.
- W3138732012 cites W2618733545 @default.
- W3138732012 cites W2736652053 @default.
- W3138732012 cites W2746752553 @default.
- W3138732012 cites W2780680391 @default.
- W3138732012 cites W2783801667 @default.
- W3138732012 cites W2784648116 @default.
- W3138732012 cites W2799436222 @default.
- W3138732012 cites W2807254784 @default.
- W3138732012 cites W2807729139 @default.
- W3138732012 cites W2887246657 @default.
- W3138732012 cites W2893780659 @default.
- W3138732012 cites W2896709460 @default.
- W3138732012 cites W2899844036 @default.
- W3138732012 cites W2905335417 @default.
- W3138732012 cites W2910453590 @default.
- W3138732012 cites W2922426839 @default.
- W3138732012 cites W2963164265 @default.
- W3138732012 cites W2970521931 @default.
- W3138732012 cites W2973761438 @default.
- W3138732012 cites W2980992015 @default.
- W3138732012 cites W2987068209 @default.
- W3138732012 cites W3008620731 @default.
- W3138732012 cites W3010777190 @default.
- W3138732012 cites W3099587965 @default.
- W3138732012 cites W46830337 @default.
- W3138732012 doi "https://doi.org/10.1109/tro.2021.3060969" @default.
- W3138732012 hasPublicationYear "2021" @default.
- W3138732012 type Work @default.
- W3138732012 sameAs 3138732012 @default.
- W3138732012 citedByCount "36" @default.
- W3138732012 countsByYear W31387320122022 @default.
- W3138732012 countsByYear W31387320122023 @default.
- W3138732012 crossrefType "journal-article" @default.
- W3138732012 hasAuthorship W3138732012A5006520303 @default.
- W3138732012 hasAuthorship W3138732012A5038947566 @default.
- W3138732012 hasAuthorship W3138732012A5047496968 @default.
- W3138732012 hasAuthorship W3138732012A5057344646 @default.
- W3138732012 hasAuthorship W3138732012A5059446722 @default.
- W3138732012 hasBestOaLocation W31387320121 @default.
- W3138732012 hasConcept C121332964 @default.
- W3138732012 hasConcept C127413603 @default.
- W3138732012 hasConcept C146978453 @default.
- W3138732012 hasConcept C154945302 @default.
- W3138732012 hasConcept C171268870 @default.
- W3138732012 hasConcept C172707124 @default.
- W3138732012 hasConcept C183992945 @default.
- W3138732012 hasConcept C196628372 @default.
- W3138732012 hasConcept C199360897 @default.
- W3138732012 hasConcept C204323151 @default.
- W3138732012 hasConcept C2775960376 @default.
- W3138732012 hasConcept C2778313331 @default.
- W3138732012 hasConcept C33923547 @default.
- W3138732012 hasConcept C41008148 @default.
- W3138732012 hasConcept C45357846 @default.
- W3138732012 hasConcept C62520636 @default.
- W3138732012 hasConcept C78519656 @default.
- W3138732012 hasConcept C94375191 @default.
- W3138732012 hasConceptScore W3138732012C121332964 @default.
- W3138732012 hasConceptScore W3138732012C127413603 @default.
- W3138732012 hasConceptScore W3138732012C146978453 @default.
- W3138732012 hasConceptScore W3138732012C154945302 @default.
- W3138732012 hasConceptScore W3138732012C171268870 @default.
- W3138732012 hasConceptScore W3138732012C172707124 @default.
- W3138732012 hasConceptScore W3138732012C183992945 @default.
- W3138732012 hasConceptScore W3138732012C196628372 @default.
- W3138732012 hasConceptScore W3138732012C199360897 @default.
- W3138732012 hasConceptScore W3138732012C204323151 @default.
- W3138732012 hasConceptScore W3138732012C2775960376 @default.