The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper
Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasp...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/3/52 |
| _version_ | 1797239394664448000 |
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| author | Mary E. Stokes John K. Mohrmann Chase G. Frazelle Ian D. Walker Ge Lv |
| author_facet | Mary E. Stokes John K. Mohrmann Chase G. Frazelle Ian D. Walker Ge Lv |
| author_sort | Mary E. Stokes |
| collection | DOAJ |
| description | Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasping with current robot hands. In this paper, we describe the design, development, and testing of a four-fingered gripper which features a novel combination of actively actuated rigid and compliant elements. The scale of the gripper is unusually large compared to most existing robot hands. The overall goal for the hand is to explore compliant grasping of potentially fragile objects of a size not typically considered. The arrangement of the digits is inspired by the feet of birds, specifically raptors. We detail the motivation for this physical hand structure, its design and operation, and describe testing conducted to assess its capabilities. The results demonstrate the effectiveness of the hand in grasping delicate objects of relatively large size and highlight some limitations of the underlying rigid/compliant hybrid design. |
| first_indexed | 2024-04-24T17:50:51Z |
| format | Article |
| id | doaj.art-a9eb5ba87ac04ae09963e8f306259763 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-24T17:50:51Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-a9eb5ba87ac04ae09963e8f3062597632024-03-27T14:03:11ZengMDPI AGRobotics2218-65812024-03-011335210.3390/robotics13030052The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum GripperMary E. Stokes0John K. Mohrmann1Chase G. Frazelle2Ian D. Walker3Ge Lv4Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USADepartment of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USADepartment of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USADepartment of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USADepartment of Mechanical Engineering, Clemson University, Clemson, SC 29634, USAMost robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasping with current robot hands. In this paper, we describe the design, development, and testing of a four-fingered gripper which features a novel combination of actively actuated rigid and compliant elements. The scale of the gripper is unusually large compared to most existing robot hands. The overall goal for the hand is to explore compliant grasping of potentially fragile objects of a size not typically considered. The arrangement of the digits is inspired by the feet of birds, specifically raptors. We detail the motivation for this physical hand structure, its design and operation, and describe testing conducted to assess its capabilities. The results demonstrate the effectiveness of the hand in grasping delicate objects of relatively large size and highlight some limitations of the underlying rigid/compliant hybrid design.https://www.mdpi.com/2218-6581/13/3/52grippercontinuumdesigngrasping |
| spellingShingle | Mary E. Stokes John K. Mohrmann Chase G. Frazelle Ian D. Walker Ge Lv The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper Robotics gripper continuum design grasping |
| title | The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper |
| title_full | The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper |
| title_fullStr | The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper |
| title_full_unstemmed | The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper |
| title_short | The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper |
| title_sort | claw an avian inspired large scale hybrid rigid continuum gripper |
| topic | gripper continuum design grasping |
| url | https://www.mdpi.com/2218-6581/13/3/52 |
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