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Applied Computing and Information Technology pp 31–45Cite as

A Novel Approach to Design of an Under-Actuated Mechanism for Grasping in Agriculture Application

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 553))

Abstract

Under-actuated mechanism is a mechanical system which the number of control inputs is smaller than the Degrees of Freedom (DOF). This mechanism has many advantages such as low cost, low energy consumption and lightweight. This chapter present a novel approach to mechanical design of under-actuated robot finger with passive adaptive grasping. Three concepts of environment, mechanism and control of passive adaptive grasping are also focused in our approach. The mechanical design of proposed under-actuated robot finger is briefly described and experimental results in real environments are also given.

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Author information

Authors and Affiliations

  1. Faculty of Computer and Information Sciences, Sojo University, Kumamoto, Japan

    Alireza Ahrary

  2. Department of Computer and Information Sciences, Sojo University, Kumamoto, Japan

    R. Dennis A. Ludena

Authors
  1. Alireza Ahrary
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  2. R. Dennis A. Ludena
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Correspondence to Alireza Ahrary .

Editor information

Editors and Affiliations

  1. Software Engineering and Information Technology Institute, Central Michigan University, Mt. Pleasant, Michigan, USA

    Roger Y. Lee

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Ahrary, A., Ludena, R.D.A. (2014). A Novel Approach to Design of an Under-Actuated Mechanism for Grasping in Agriculture Application. In: Lee, R. (eds) Applied Computing and Information Technology. Studies in Computational Intelligence, vol 553. Springer, Cham. https://doi.org/10.1007/978-3-319-05717-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-05717-0_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-05716-3

  • Online ISBN: 978-3-319-05717-0

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