ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 63 / September, 2020

DOI 10.17586/0021-3454-2019-62-1-93-96

UDC 681.51


A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior Scientific Researcher

D. N. Bazylev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate

K. A. Zimenko
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior Scientific Researcher

P. D. Vakhviyanova
ITMO University, Faculty of Control Systems and Robotics; Engineer ;

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Abstract. An electromechanical underactuated gripper with flexible joints and a force sensing system is presented. The gripper is characterized by small size, weight, and energy consumption, which allows it to be used on mobile robotic devices. The key advantage of the developed device is the expansion of the field of application due to the proposed force sensing system enabling operation with fragile and inelastically deformable objects, as well as with objects of complex geometric shape. Another feature of the proposed gripper is the use of additive technologies for manufacture of parts that provide rigidity and structural integrity.
Keywords: electromechanical gripper, underactuated gripper, force sensing system, modular construction

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