A New, Simple and Universal Four-Finger Gripper for 3D Objects Grasping
Su, Jianhua; Liu, Chuankai; Qiao, Hong
2008
Conference Name1st International Conference Intelligent Robotics and Applications
Source PublicationINTELLIGENT ROBOTICS AND APPLICATIONS
Conference DateOCT 15-17, 2008
Conference PlaceWuhan, PEOPLES R CHINA
AbstractIn 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.
KeywordFour-finger Gripper Enveloping Grasps Fingertip Grasps Grasp Planning
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12816
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 AuthorSu, Jianhua
AffiliationChinese Acad Sci, Inst Automat
Recommended Citation
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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