Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects
This paper proposes an underactuated grippers mechanism that Guide Rod Plug grasps and pulls in different types of objects.These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers.To demonstrate this principle, we have developed two kinds of gripper by different driving systems: o