Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
Connor L. Yako,Shenli Yuan,J. Kenneth Salisbury,Connor L. Yako,Shenli Yuan,J. Kenneth Salisbury
In this paper we present a potential energy map based approach that provides a framework for the design and control of a robotic grasper. Unlike other potential energy map approaches, our framework considers friction for a more realistic perspective on grasper performance. Our analysis establishes the importance of considering dynamically variable geometry in grasper design, namely palm width, lin...
