An Underactuated Gripper based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection
Qiujie Lu Jinhong Wang Zhuang Zhang Genliang Chen Hao Wang Nicolas Rojas Qiujie Lu Jinhong Wang Zhuang Zhang Genliang Chen Hao Wang Nicolas Rojas
We introduce an underactuated differential-based robot gripper able to perform self-adaptive grasping with passive disturbance rejection. The gripper utilises three car differential systems to achieve self-adaptiveness with a single actuator: a base differential for distributing power from the motor to the fingers, and two independent finger differentials for controlling the proximal and distal jo...