Grasping of delicate objects by a novel two-finger variable reluctance gripper

K. K C Chan, Chow Norbert Cheung

Research output: Journal article publicationConference articleAcademic researchpeer-review

8 Citations (Scopus)

Abstract

Variable reluctance (VR) actuator has a simple and robust structure. VR actuator does not have a permanent magnet. It is low-cost, easy-to-manufacture, highly reliable, and can operate in hostile temperatures. However, it is inherently nonlinear, and it is difficult to operate as a proportional device. With the advancement of digital signal processing and power electronic drives in recent years, VR actuators have redrawn research interests. The paper describes the position and force control of a novel two-finger gripper using VR technology. Measurement and characterisation of the actuator is carried out. A novel motion and force control algorithm is implemented. The results show that the proposed actuator is suitable for high precision gripping applications.
Original languageEnglish
Pages (from-to)1969-1974
Number of pages6
JournalConference Record - IAS Annual Meeting (IEEE Industry Applications Society)
Volume3
Publication statusPublished - 1 Jan 2001
Event36th IAS Annual Meeting -Conference Record of the 2001 Industry Applications - Chicago, IL, United States
Duration: 30 Sep 20014 Oct 2001

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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