RT Journal Article
T1 Experimental validation of a plier with two retractable fingers
T2 Validación experimental de una pinza de dos dedos retráctiles
A1 Soriano Heras, Enrique
A1 Rubio Alonso, Higinio
A1 García Prada, Juan Carlos
A1 Carbone, Giuseppe
AB This 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.
PB DYNA
SN 0012-7361
YR 2016
FD 2016-02
LK https://hdl.handle.net/10016/38691
UL https://hdl.handle.net/10016/38691
LA eng
DS e-Archivo
RD 18 jul. 2024