An Underactuated Gripper based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection
Qiujie Lu,Jinhong Wang,Zhuang Zhang,Genliang Chen,Hao Wang,Nicolas Rojas,Qiujie Lu,Jinhong Wang,Zhuang Zhang,Genliang Chen,Hao Wang,Nicolas Rojas
We introduce an underactuated differential-based robot gripper able to perform self-adaptive grasping with passive disturbance rejection. The gripper utilises three car differential systems to achieve self-adaptiveness with a single actuator: a base differential for distributing power from the motor to the fingers, and two independent finger differentials for controlling the proximal and distal jo...
