Solutions for a Variable Compliance Gripper Design

  • Maria Elena Giannaccini
  • Sanja Dogramadzi
  • Tony Pipe
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6856)

Abstract

Grippers used in industry and robotics as peripheral tools to grasp objects are often limited to only one type of object surface shape. On the other hand, grippers with the capability to adaptively conform to disparate objects surfaces could be used for handling multi-surfaced workparts [1]. Furthermore, a gripper with a compliant grasp allows pressure-sensitive objects to be grasped without damage. In addition, a low inertia end-effector improves the energy efficiency of the overall system and can be easily moved in a highly dynamical manner [2]. The first concern of this ongoing research has been to prove that, notwithstanding their variable compliance, the grippers we designed are able to firmly hold objects.

References

  1. 1.
  2. 2.
  3. 3.
    Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M., Lipson, H., Jaeger, H.: Universal robotic gripper based on the jamming of granular material. Proceedings of the National Academy of Sciences 107, 18743–19132 (2010)CrossRefGoogle Scholar
  4. 4.
    Calisti, M., Arienti, A., Giannaccini, M., Follador, M., Giorelli, M., Cianchetti, M., Mazzolai, B., Laschi, C., Dario, P.: Study and fabrication of bioinspired octopus arm mockups tested on a multipurpose platform. In: IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan (2010)Google Scholar
  5. 5.
  6. 6.
    Haddadin, S., Albu-Schäffer, A., Hirzinger, G.: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights. In: International Symposium on Robotics Research (ISRR 2007), Hiroshima, Japan, pp. 439–450 (2007)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Maria Elena Giannaccini
    • 1
  • Sanja Dogramadzi
    • 1
  • Tony Pipe
    • 1
  1. 1.Bristol Robotics LaboratoryBristolUK

Personalised recommendations