{"id":"https://openalex.org/W2182214211","doi":"https://doi.org/10.20965/jrm.2015.p0496","title":"Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism","display_name":"Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism","publication_year":2015,"publication_date":"2015-10-20","ids":{"openalex":"https://openalex.org/W2182214211","doi":"https://doi.org/10.20965/jrm.2015.p0496","mag":"2182214211"},"language":"en","primary_location":{"id":"doi:10.20965/jrm.2015.p0496","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2015.p0496","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/jrm.2015.p0496","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078022097","display_name":"Kuat Telegenov","orcid":"https://orcid.org/0000-0001-6136-843X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kuat Telegenov","raw_affiliation_strings":["Department of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026153858","display_name":"Yedige Tlegenov","orcid":"https://orcid.org/0000-0002-8143-7516"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Yedige Tlegenov","raw_affiliation_strings":["Nazarbayev University"],"affiliations":[{"raw_affiliation_string":"Nazarbayev University","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076362053","display_name":"Shahid Hussain","orcid":"https://orcid.org/0000-0002-4352-0212"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shahid Hussain","raw_affiliation_strings":["[University of Wollongong]"],"affiliations":[{"raw_affiliation_string":"[University of Wollongong]","institution_ids":["https://openalex.org/I204824540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056351433","display_name":"Almas Shintemirov","orcid":"https://orcid.org/0000-0002-6969-8529"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Almas Shintemirov","raw_affiliation_strings":["Department of Robotics and Mechatronics"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078022097"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3405,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65815957,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"27","issue":"5","first_page":"496","last_page":"503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9959999918937683,"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/robot-end-effector","display_name":"Robot end effector","score":0.867492139339447},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.591627836227417},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5568413734436035},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5037536025047302},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4966619610786438},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4714570641517639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.469574898481369},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46834510564804077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44465309381484985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42505791783332825},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.4236198663711548},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4024856984615326},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1011044979095459},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10023799538612366}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.867492139339447},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.591627836227417},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5568413734436035},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5037536025047302},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4966619610786438},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4714570641517639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.469574898481369},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46834510564804077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44465309381484985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42505791783332825},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.4236198663711548},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4024856984615326},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1011044979095459},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10023799538612366},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.20965/jrm.2015.p0496","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2015.p0496","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},{"id":"pmh:oai:ro.uow.edu.au:eispapers-6274","is_oa":false,"landing_page_url":"https://ro.uow.edu.au/eispapers/5247","pdf_url":null,"source":{"id":"https://openalex.org/S4306400510","display_name":"Research Online (University of Wollongong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I204824540","host_organization_name":"University of Wollongong","host_organization_lineage":["https://openalex.org/I204824540"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty of Engineering and Information Sciences - Papers: Part A","raw_type":"article"},{"id":"pmh:oai:generic.eprints.org:1068761","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1068761/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.20965/jrm.2015.p0496","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2015.p0496","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W35583392","https://openalex.org/W1520726269","https://openalex.org/W1525184875","https://openalex.org/W1750195088","https://openalex.org/W1968176758","https://openalex.org/W1971688004","https://openalex.org/W1999375810","https://openalex.org/W2000779195","https://openalex.org/W2002817321","https://openalex.org/W2007170601","https://openalex.org/W2048058874","https://openalex.org/W2055256495","https://openalex.org/W2057299504","https://openalex.org/W2064582495","https://openalex.org/W2071108842","https://openalex.org/W2071565744","https://openalex.org/W2080525707","https://openalex.org/W2085152374","https://openalex.org/W2095852913","https://openalex.org/W2108227326","https://openalex.org/W2112777749","https://openalex.org/W2117197536","https://openalex.org/W2150747590","https://openalex.org/W2468050848","https://openalex.org/W2539902758","https://openalex.org/W2574543018","https://openalex.org/W2577818893","https://openalex.org/W4238441747","https://openalex.org/W6642237875","https://openalex.org/W6983463509","https://openalex.org/W7071305293"],"related_works":["https://openalex.org/W3035867307","https://openalex.org/W2907262613","https://openalex.org/W143055317","https://openalex.org/W1989428111","https://openalex.org/W4289868286","https://openalex.org/W2000779195","https://openalex.org/W4210853116","https://openalex.org/W1976950967","https://openalex.org/W2076754931","https://openalex.org/W2803078534"],"abstract_inverted_index":{"&lt;div":[0],"class=\"\"abs_img\"\"&gt;":[1],"&lt;img":[2],"src=\"\"[disp_template_path]/JRM/abst-image/00270005/05.jpg\"\"":[3],"width=\"\"300\"\"":[4],"/&gt;":[5],"A":[6],"robotic":[7,13,36,57,126],"end":[8,37,58,102,127,136],"effector":[9,59,103,137],"prototype&lt;/div&gt;":[10],"Commercially":[11],"available":[12,39,125],"grippers":[14],"are":[15,88],"often":[16],"expensive":[17],"and":[18,29,51,75,83,111,118],"not":[19],"easy":[20],"to":[21,40,91],"modify":[22],"for":[23,66,73],"specific":[24],"purposes":[25],"of":[26,35,53,71,80,95,100,133],"robotics":[27],"research":[28,67],"education.":[30],"To":[31],"extend":[32],"the":[33,45,81,84,101,130,134],"choice":[34],"effectors":[38,128],"researchers,":[41],"this":[42],"paper":[43],"presents":[44],"preliminary":[46],"work":[47],"on":[48],"prototype":[49,104],"design":[50,96],"analysis":[52],"a":[54,61,107],"three-finger":[55],"underactuated":[56],"with":[60,106,122],"breakaway":[62,85],"clutch":[63,86],"mechanism":[64],"suitable":[65],"in":[68],"robot":[69],"manipulation":[70],"objects":[72],"industrial":[74],"service":[76],"applications.":[77],"Kinematic":[78],"models":[79],"finger":[82],"mechanisms":[87],"analyzed":[89],"aiming":[90],"define":[92],"selection":[93],"criteria":[94],"parameters.":[97],"Grasping":[98],"performance":[99],"manufactured":[105],"3D":[108],"printing":[109],"technology":[110],"off-the-shelf":[112],"components":[113],"is":[114],"evaluated":[115],"using":[116],"simulation":[117],"experimental":[119],"analyses.":[120],"Comparison":[121],"widely":[123],"applied":[124],"shows":[129],"potential":[131],"advantages":[132],"proposed":[135],"design.":[138],"&lt;/span&gt;":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
