A New, Simple and Universal Four-Finger Gripper for 3D Objects Grasping
Su, Jianhua; Liu, Chuankai; Qiao, Hong
2008
会议名称1st International Conference Intelligent Robotics and Applications
会议录名称INTELLIGENT ROBOTICS AND APPLICATIONS
会议日期OCT 15-17, 2008
会议地点Wuhan, PEOPLES R CHINA
摘要In manufacturing, it is common to handle objects with different geometries and weights. For example, there are more than ten types of objects required to assemble together in the automotive product line. The parallel-jaw gripper in wide use is inflexible and inefficient to meet the requirements. In this paper, a new, simple and flexible four-finger gripper, called CBF (Cross Bar Four-Finger) gripper, is designed to grasp various objects. The gripper with 8 degrees of freedom has compact architectures and can be easily built. It can perform both enveloping grasps and fingertip grasps. We present some properties of 3D objects that can be enveloping grasped. A Sufficient condition is given for selecting the stable fingertip grasping points. Two strategies are proposed to select the contact points in two grasp modes respectively. Some examples are presented to validate our approach.
关键词Four-finger Gripper Enveloping Grasps Fingertip Grasps Grasp Planning
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12816
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Su, Jianhua
作者单位Chinese Acad Sci, Inst Automat
推荐引用方式
GB/T 7714
Su, Jianhua,Liu, Chuankai,Qiao, Hong. A New, Simple and Universal Four-Finger Gripper for 3D Objects Grasping[C],2008.
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