SCIENCE CHINA Information Sciences, Volume 62 , Issue 5 : 050214(2019) https://doi.org/10.1007/s11432-018-9716-2

A universal robot gripper based on concentric arrays of rotating pins

An MO 1,2,3, Wenzeng ZHANG 1,2,3,*
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  • ReceivedAug 23, 2018
  • AcceptedNov 30, 2018
  • PublishedFeb 27, 2019


There is no abstract available for this article.


This work was supported by National Natural Science Foundation of China (Grant No. 51575302), Beijing Natural Science Foundation (Grant No. J170005), and National Key RD Program of China (Grant No. 2017YFE0113200).




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  • Figure 1

    (Color online) (a) Structure of CRPA gripper; (b) force transmission to two adjacent rings from the driving pulley; (c) motor speed when a set of rings are fixed with their belts sliding.