Synthesizing two-fingered grippers for positioning and identifying objects
Qian, WH; Qiao, H; Tso, SK
2001-08
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷号31期号:4页码:602-615
摘要Most 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.
关键词Four-pin Gripper Gripper Synthesis Object Identification Object Positioning Pose Uncertainty Two-fingered Gripper
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12584
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Qian, WH
作者单位Shanghai Jiao Tong Univ, Inst Robot
推荐引用方式
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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Qian, WH]的文章
[Qiao, H]的文章
[Tso, SK]的文章
百度学术
百度学术中相似的文章
[Qian, WH]的文章
[Qiao, H]的文章
[Tso, SK]的文章
必应学术
必应学术中相似的文章
[Qian, WH]的文章
[Qiao, H]的文章
[Tso, SK]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。