Publication:
Experimental validation of a plier with two retractable fingers

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dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: MAQLAB: Laboratorio de Máquinases
dc.contributor.authorSoriano Heras, Enrique
dc.contributor.authorRubio Alonso, Higinio
dc.contributor.authorGarcĂ­a Prada, Juan Carlos
dc.contributor.authorCarbone, Giuseppe
dc.date.accessioned2023-10-26T14:09:44Z
dc.date.available2023-10-26T14:09:44Z
dc.date.issued2016-02
dc.description.abstractThis paper presents analytical, numerical, and experimental testing models for designing and validating the feasibility of a gripper with two retractable fingers. The proposed gripper is specifically developed for grasping and manipulating objects that should be kept into restricted areas such as explosives, radioactive/ionized materials, and infected biological material specimens. The proposed gripper fingers can be retracted to pass through openings or slots and, once inside the restricted area, can be deployed in order to manipulate the objects without risk for the human operators. Analytical and numerical simulations are used to properly design and build a gripper prototype. Then, experimental tests are carried out to grasp objects of different sizes ranging from 5 to 10 mm. The obtained results are used to validate the gripper"s performance in terms of successful grasp and suitable accelerations and grasp forces.en
dc.format.extent8
dc.identifier.bibliographicCitationDYNA, 91(1), 34-41. https://doi.org/10.6036/7507
dc.identifier.doihttps://doi.org/10.6036/7507
dc.identifier.issn0012-7361
dc.identifier.publicationfirstpage34
dc.identifier.publicationissue1
dc.identifier.publicationlastpage41
dc.identifier.publicationtitleDYNAes
dc.identifier.publicationvolume91
dc.identifier.urihttps://hdl.handle.net/10016/38691
dc.identifier.uxxiAR/0000017824
dc.language.isoengen
dc.publisherDYNAes
dc.rights.accessRightsopen accessen
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherRoboticsen
dc.subject.otherTwo-finger gripperen
dc.subject.otherExperimental validationen
dc.subject.otherGripping forcéen
dc.subject.otherRobĂłticaes
dc.subject.otherPinzas de dos dedoses
dc.subject.otherValidaciĂłn experimentales
dc.subject.otherFuerza de agarrees
dc.titleExperimental validation of a plier with two retractable fingersen
dc.title.alternativeValidación experimental de una pinza de dos dedos retráctileses
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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