Mentaca: An universal jamming gripper on wheels
Mentaca: An universal jamming gripper on wheels
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Mentaca：带轮子的通用干扰夹具
DOI：
10.1109/chilecon.2015.7404666
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Ricardo
中科院分区：
文献类型：
--
作者：
Harold;Yi;Ricardo;J. Zagal;Ricardo
多功能机器人抓取通常受到机械臂夹具的局部工作范围的限制。对于在未知环境中运行的移动机器人来说，需要将大规模位移与末端执行器的精细定位相结合的能力。在这项工作中，我们探索了在全向移动平台顶部安装通用干扰夹具的替代方案。我们构建了一个顶部带有 3 自由度机械臂的移动平台，并探索了通用干扰夹具变得可移动所需的修改。尽管该平台还不是完全自主的，但它已经为能够将运动与拾取和放置小型精致物体的能力相结合的系统的实现提供了有趣的见解。据我们所知，这是移动通用干扰夹具的首次实现。
Versatile robotic grasping is often limited by the local working envelope of robotic arm grippers. The ability to combine large scale displacement with fine positioning of an end effector is desired for mobile robots operating in uncharted environments. In this work we explore the alternative of mounting an universal jamming gripper on top of an omnidirectional mobile platform. We built a mobile platform with a 3-DOF manipulator on top, and explore the modifications required for an universal jamming gripper to become mobile. Although the platform is not fully autonomous yet, it already delivers interesting insights on the implementation of a system capable of combining locomotion with the ability to pick and place small delicate objects. To the best of our knowledge, this is the first realization of an mobile universal jamming gripper.