Synthesizing two-fingered grippers for positioning and identifying objects
Qian, WH; Qiao, H; Tso, SK
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
2001-08
Volume31Issue:4Pages:602-615
AbstractMost industrial grippers now in use are two-fingered. Among them the parallel-jaw gripper is the simplest. It can partially remove the pose uncertainty of an object through grasping, such as the orientation uncertainty. This paper addresses a new type of grippers with the finger configuration of four circles instead of two parallel lines. It has a number of important advantages. Especially, it achieves form-closure and confines the object to a locally unique pose, so as to remove the pose uncertainty completely. It allows the gripped object to reach this pose freely without loss of required friction in the direction perpendicular to the grasping plane. More information can be acquired for identifying the object and its grasp mode. As a result the identification can be performed at one grasp. The key parameter of a symmetric four-pin gripper is the distance (span) between two pin centers on each finger, which depends upon the object shape and impacts the closure property. Based on a new approach to the grasp geometry, selection and limitations of the span are illustrated.
KeywordFour-pin Gripper Gripper Synthesis Object Identification Object Positioning Pose Uncertainty Two-fingered Gripper
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12584
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorQian, WH
AffiliationShanghai Jiao Tong Univ, Inst Robot
Recommended Citation
GB/T 7714
Qian, WH,Qiao, H,Tso, SK. Synthesizing two-fingered grippers for positioning and identifying objects[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2001,31(4):602-615.
APA Qian, WH,Qiao, H,&Tso, SK.(2001).Synthesizing two-fingered grippers for positioning and identifying objects.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,31(4),602-615.
MLA Qian, WH,et al."Synthesizing two-fingered grippers for positioning and identifying objects".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 31.4(2001):602-615.
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