Accession Number:

ADA235085

Title:

Passive and Active Grasping with a Prehensile Robot End-Effector.

Descriptive Note:

Master's thesis,

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

• Greiner, Helen

Report Date:

1990-05-01

Pagination or Media Count:

75.0

Abstract:

This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.

Descriptors:

• *WINDING
• PASSIVE SYSTEMS
• THESES

Subject Categories:

• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE