Contents Menu

Jiang Zhongwei

Affiliate Master Yamaguchi University

Active sensing using soft handing miniature gripper : identification of grasped object

Journal of the Japan Society of Applied Electromagnetics Volume 6 Issue 1 Page 36-43
published_at 1998-03
2010010198.pdf
[fulltext] 410 KB
Title
小型ソフトハンドリンググリッパを用いたアクティブセンシングの研究 : 把持対象物の計測同定
Active sensing using soft handing miniature gripper : identification of grasped object
Creators Kim Young Chul
Creators Chonan Seiji
Creators Jiang Zhong-wei
Creators Tanaka Mami
Creators Hirose Taichi
Creator Keywords
active sensing soft handling gripper measurement of stiffiness PVDF actuator identification
This pager is concerned with the active sensing using a two-fingered miniature gripper driven by a piezoceramic stack. A linkage that transforms the actuator longitudinal dilation into the lateral fingertip motion is designed. A strain gauge is placed at the bottom of a flexible finger for sensing the stiffiness of an object grasped at the tip of the finger's. A mathematical model of the system is developed and applied to the study of the active sensing where the gripper is driven to grasp the object with a time step response.
Languages jpn
Resource Type journal article
Publishers 日本AEM学会
Date Issued 1998-03
File Version Version of Record
Access Rights open access
Relations
[ISSN]0919-4452
[NCID]AN10457520
[isVersionOf] [URI]http://wwwsoc.nii.ac.jp/jsaem/html/journal-j.html
Schools 大学院理工学研究科(工学)