{"id":"https://openalex.org/W2909173718","doi":"https://doi.org/10.1109/icarm.2018.8610678","title":"Concentric Rotation Pin Array Gripper for Universal Grasp","display_name":"Concentric Rotation Pin Array Gripper for Universal Grasp","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2909173718","doi":"https://doi.org/10.1109/icarm.2018.8610678","mag":"2909173718"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022726282","display_name":"An Mo","orcid":"https://orcid.org/0000-0001-5870-3209"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"An Mo","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089503989","display_name":"Hong Fu","orcid":"https://orcid.org/0000-0002-6667-0635"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Fu","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102713104","display_name":"Chao Luo","orcid":"https://orcid.org/0000-0002-0600-5940"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Luo","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102941157","display_name":"Wenzeng Zhang","orcid":"https://orcid.org/0000-0003-3537-147X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"112","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9452422857284546},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8443654775619507},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7712973952293396},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7415943145751953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6561911106109619},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6561723947525024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5410740375518799},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5155394077301025},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3994917571544647},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33155375719070435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30389460921287537},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08526813983917236},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08499228954315186}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9452422857284546},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8443654775619507},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7712973952293396},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7415943145751953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6561911106109619},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6561723947525024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5410740375518799},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5155394077301025},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3994917571544647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33155375719070435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30389460921287537},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08526813983917236},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08499228954315186},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1983463109","https://openalex.org/W1999375810","https://openalex.org/W2029744358","https://openalex.org/W2057478641","https://openalex.org/W2071572887","https://openalex.org/W2139990746","https://openalex.org/W2155840082","https://openalex.org/W2261094760","https://openalex.org/W2408357557","https://openalex.org/W2430053795","https://openalex.org/W2600030077","https://openalex.org/W2734347762","https://openalex.org/W2738173023","https://openalex.org/W2776177362","https://openalex.org/W2778191597","https://openalex.org/W2789772528","https://openalex.org/W4210660029","https://openalex.org/W4255466541"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"Advanced":[0],"service":[1],"robots":[2],"and":[3],"flexible":[4],"production":[5],"lines":[6],"demand":[7],"more":[8],"versatile":[9],"grippers":[10],"than":[11],"conventional":[12],"ones.":[13],"The":[14],"traditional":[15],"industrial":[16],"gripper":[17,35,80],"with":[18,36,50],"two":[19,56],"set":[20],"of":[21,46,58,68,78],"pin":[22,39],"arrays":[23],"fails":[24],"to":[25],"grasp":[26],"some":[27],"objects.":[28],"This":[29],"paper":[30],"presented":[31],"a":[32],"novel":[33],"universal":[34],"concentric":[37,60],"rotation":[38],"array,":[40],"CRPA":[41],"gripper.":[42],"It":[43],"is":[44,71],"capable":[45],"grasping":[47],"various":[48],"objects":[49],"only":[51],"one":[52],"actuator,":[53],"which":[54],"drives":[55],"sets":[57],"multiple":[59],"rings":[61],"rotate":[62],"at":[63],"opposite":[64],"directions.":[65],"Analytical":[66],"model":[67],"force":[69],"transmission":[70],"built.":[72],"Simulation":[73],"results":[74],"verify":[75],"the":[76,79,86],"feasibility":[77],"design.":[81],"A":[82],"functional":[83],"prototype":[84],"validates":[85],"predicted":[87],"performance.":[88]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
