Professional Documents
Culture Documents
Benidorm
Benidorm
Gert A. Kragten
Haptics[3]
Walking robots[1]
• Promising object
• Shape adaptation
θ1
• Reduction of actuators
Fc,1
θ2
• Drawback Fc,2
• Controllability Grasp Performance?
Mechanical Design?
December 15, 2022 4/11
Innovation:
• Combine performance aspects
• Apply to underactuated mechanisms
θ1 Fdist.
μ1Fc,1 Mdist.
μ2Fc,2
FFc,1
c,1
θ2 FF
c,2
c,2
December 15, 2022 6/11
Results (MSc thesis)
[1]
2 Serial 1 Parallel
Mechanisms Mechanism
December 15, 2022 9/11
Requirements Analysis
• Versatility • Kinematics
• Grasp Robustness • Dynamics
Conceptual Designs
Ideas, Approaches
• Bio-inspiration
• Winter School
• Brainstorm
object
θ1
Fc,1
θ2
Fc,2