A Novel Underactuated End-Effector for Planar Sequential Grasping of Multiple Objects
Caio Mucchiani,Mark Yim,Caio Mucchiani,Mark Yim
We propose a serpentine type tendon driven underactuated end-effector design with a closing mechanism that is triggered upon contact with an object. This end-effector can grasp objects without knowing the size a priori and is able to grasp a new object while securing another one previously grasped, and so grasp multiple objects sequentially with a single DOF actuation. Design parameters based on t...
