지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.29 No.1
- 발행연도
- 2012.1
- 수록면
- 25 - 32 (8page)
이용수
초록· 키워드
오류제보하기
In this study, we present a gripping mechanism that is inspired by caterpillar’s proleg. A caterpillar’s proleg has planta that gives compliance to the proleg by greatly deforming its shape. In the bio-inspired gripper, the planta is implemented by flexure joints. The flexures buckle when end force and end moment is applied on the joint in opposite direction. Using this characteristic, the gripping structure is designed so that the flexure buckling can occur. Flexure buckling increases the region where gripping force is constant and this region leads to increasing in gripping range. At the same time, flexure buckling decouples all spines and therefore all spines can move differentially and independently. With this simple but effective mechanism, the bioinspire gripper can achieve adaptive gripping on rough and rugged surfaces. A prototype is built to demonstrate adaptive gripping on rough and rugged surfaces such as cement block, brick.
목차
1. 서론
2. 생물학적 영감 및 개념 디자인
3. 모델링
4. 제작
5. 실험 및 결과
6. 결론
후기
참고문헌
참고문헌 (15)
참고문헌 신청
Volpe, R. / 1997 / The rocky 7 mars rover prototype / Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems 3:1558~1551
Kim, S. / 2008 / Smooth vertical surface climbing with directional adhesion / IEEE Transactions on Robotics 24(1):65~74
Kim, S. / 2005 / SpinybotII: climbing hard walls with compliant microspines / 12th International Conference on Advanced Robotics :601~606
Hirose, S. / 1978 / The development of soft gripper for the versatile robot hand / Mechanism and Machine Theory 13(3):351~359
Dollar, A. M. / 2006 / A robust compliant grasper via shape deposition manufacturing / IEEE/ASME Transactions on Mechatronics 11(2):154~161
Kim, S. / 2008 / Smooth vertical surface climbing with directional adhesion / IEEE Transactions on Robotics 24(1):65~74
Kim, S. / 2005 / SpinybotII: climbing hard walls with compliant microspines / 12th International Conference on Advanced Robotics :601~606
Hirose, S. / 1978 / The development of soft gripper for the versatile robot hand / Mechanism and Machine Theory 13(3):351~359
Dollar, A. M. / 2006 / A robust compliant grasper via shape deposition manufacturing / IEEE/ASME Transactions on Mechatronics 11(2):154~161
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UCI(KEPA) : I410-ECN-0101-2013-555-001347478