Grasping Objects: The relationship between the cage and form-closure grasp
Su, Jianhua1; Hong,Qiao1; Liu,Chuankai2; Song,Yongbo1; Yang,Ailong3; Su,Jianhua
AbstractIn various industries, there is a need for low-cost, flexible robotic grasping systems that handle and classify different items, and which usually involve low-cost grippers and reliable manipulations. Generally, one degree-of-freedom (DOF) two- or three-pin grippers are widely used in the automation of manufacturing processes because of their low cost and high reliability. However, some uncertainties introduced by the object and the gripper may affect the robustness of the grasps. The principle of caging enables us to deal with these uncertainties, and it is therefore important to study caging as a practical solution to improving the grasps of one-DOF industrial grippers.
In general, not all cages are suitable for achieving form-closure grasps. A form closure grasping cage  means that there is a set of configurations of the gripper for which the object will not escape but will arrive to a form closure. However, to the best of our knowledge, only a few studies have considered the form closure grasping cage problem. In this study, we investigate the relationship between a cage and the form closure grasping of a single DOF two-pin or three-pin gripper. In addition, we propose an algorithm to develop cages that will enable us to realize form closure grasps.


 [A1]GUIDELINE: Compound adjectives that modify a noun are typically hyphenated but not when the first word of the adjective is an adverb ending with “-ly.”
EXPLANATION: A compound adjective is formed by two words that jointly describe a noun (e.g., “water” and “soluble” in “water-soluble compound”). Such compound adjectives are usually hyphenated to indicate that they form a single unit. The use of the hyphen also aids clarity. For example, in the sentence “I saw a man-eating alligator,” it is clear that the alligator eats humans. Without the hyphen, the sentence will read as “I saw a man eating alligator” (i.e., the man was eating an alligator).
However, if the first word of a compound adjective is an adverb ending with “-ly” then the compound adjective should not be hyphenated.
Incorrect: I saw a beautifully-dressed girl.
Correct: I saw a beautifully dressed girl.
KeywordCaging Grasping
Document Type期刊论文
Corresponding AuthorSu,Jianhua
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Beijing Aerosp Control Ctr, Beijing 100094, Peoples R China
3.University of Science & Technology Beijing
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Su, Jianhua,Hong,Qiao,Liu,Chuankai,et al. Grasping Objects: The relationship between the cage and form-closure grasp[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE,2017,24(3):82-94.
APA Su, Jianhua,Hong,Qiao,Liu,Chuankai,Song,Yongbo,Yang,Ailong,&Su,Jianhua.(2017).Grasping Objects: The relationship between the cage and form-closure grasp.IEEE ROBOTICS & AUTOMATION MAGAZINE,24(3),82-94.
MLA Su, Jianhua,et al."Grasping Objects: The relationship between the cage and form-closure grasp".IEEE ROBOTICS & AUTOMATION MAGAZINE 24.3(2017):82-94.
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