An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp

doi:10.1109/TMECH.2022.3217509

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp
	Li, Rui1 ; Cao, Yanjun 2; Bing, Zhenshan 3; Qiao, Hong4
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2022-11-11
页码	12
通讯作者	Li, Rui(raysworld@outlook.com)
摘要	The four-pin gripper is an ideal end-effector to achieve form-closure grasps, which is especially useful in scenarios where a stable grasp is necessary. In this article, we propose an improved parallel four-pin gripper design. Compared with the previous designs, the new design achieves more planar configurations while introducing only one more actuator, thus enlarging the possibility of the gripper to stably grasp. Based on the improved design, we extend the environment constraint-based form-closure grasping point search algorithm to find the optimal parameters for the improved four-pin gripper. Furthermore, we apply an inverse kinematics-based planning method to drive the gripper from any initial state to a form-closure state. The simulation and experiment demonstrate that, compared with the previous designs, the improved design can achieve stable grasping for a wider range of planar objects.
关键词	Four-pin gripper form closure stable grasping
DOI	10.1109/TMECH.2022.3217509
关键词[WOS]	DESIGN
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000886913400001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51276
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Li, Rui
作者单位	1.Chongqing Univ, Sch Automat, Chongqing 400040, Peoples R China 2.Zhejiang Univ, Huzhou Inst, Huzhou 313000, Peoples R China 3.Tech Univ Munich, Informat, D-80333 Munich, Germany 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Rui,Cao, Yanjun,Bing, Zhenshan,et al. An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:12.
APA	Li, Rui,Cao, Yanjun,Bing, Zhenshan,&Qiao, Hong.(2022).An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Li, Rui,et al."An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):12.