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dc.rights.licenseAtribución-NoComercial 4.0 Internacional
dc.contributor.authorPrada, Vladimir
dc.contributor.authorAvilés, Oscar
dc.contributor.authorMauledoux, Mauricio
dc.date.accessioned2019-07-03T15:26:25Z
dc.date.available2019-07-03T15:26:25Z
dc.date.issued2014-04-23
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/72677
dc.description.abstractThis paper presents the design of a three-fingered gripper with two degrees of freedom (DOF) per finger for a total of six (DOF). We show a brief mathematical description of the kinematics involved in the gripper with which to determine the workspace. With the workspace, all possible attachment points are obtained, that will be the points at which the end-effector contacts with the object geometry. To select which of these points is best for hold the object, we proceed to evaluate the force that is exerted on it by mathematical theory called Screw. This force should be the minimum to ensure that do not present sliding as well as avoid damages of the object by excess strength. Due to the fact that the contact points are numerous and evaluate them takes quite time by an algorithm combining, for this reason the optimization algorithm Non-dominated Sorting Genetic Algorithm (NSGA) is implemented. The results of the optimization with attachment points that exert minimal force were presented.
dc.format.mimetypeapplication/pdf
dc.language.isospa
dc.publisherUniversidad Nacional de Colombia Sede Medellín
dc.relationhttp://revistas.unal.edu.co/index.php/dyna/article/view/38748
dc.relation.ispartofUniversidad Nacional de Colombia Revistas electrónicas UN Dyna
dc.relation.ispartofDyna
dc.relation.ispartofseriesDYNA; Vol. 81, núm. 184 (2014); 93-101 Dyna; Vol. 81, núm. 184 (2014); 93-101 2346-2183 0012-7353
dc.rightsDerechos reservados - Universidad Nacional de Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.titleDesign of a three-finger end effector for optimal grip
dc.typeArtículo de revista
dc.type.driverinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersion
dc.identifier.eprintshttp://bdigital.unal.edu.co/37151/
dc.relation.referencesPrada, Vladimir and Avilés, Oscar and Mauledoux, Mauricio (2014) Design of a three-finger end effector for optimal grip. DYNA; Vol. 81, núm. 184 (2014); 93-101 Dyna; Vol. 81, núm. 184 (2014); 93-101 2346-2183 0012-7353 .
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.subject.proposalGrasp
dc.subject.proposalGripper
dc.subject.proposalNSGA
dc.subject.proposalOptimization
dc.subject.proposalRobotic
dc.subject.proposalScrews
dc.type.coarhttp://purl.org/coar/resource_type/c_6501
dc.type.coarversionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.contentText
dc.type.redcolhttp://purl.org/redcol/resource_type/ART
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2


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Atribución-NoComercial 4.0 InternacionalThis work is licensed under a Creative Commons Reconocimiento-NoComercial 4.0.This document has been deposited by the author (s) under the following certificate of deposit