中国科学院自动化研究所机构知识库

In 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.