Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (3)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Higashimori, M.
Right arrow Articles by Ishikawa, M.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Design of the 100G Capturing Robot Based on Dynamic Preshaping

Mitsuru Higashimori

Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan

Makoto Kaneko

Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan

Akio Namiki

Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan

Masatoshi Ishikawa

Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan

In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic pre-shaping problem.

Key Words: high speed capturing • wire drive robot • mechanism design • preshaping

The International Journal of Robotics Research, Vol. 24, No. 9, 743-753 (2005)
DOI: 10.1177/0278364905057058
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?