A New, Simple and Universal Four-Finger Gripper for 3D Objects Grasping

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 机器人应用与理论组

	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
会议日期	OCT 15-17, 2008
会议地点	Wuhan, PEOPLES R CHINA
关键词	Four-finger gripper enveloping grasps fingertip grasps grasp planning
通讯作者	Su, Jianhua
英文摘要	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.
会议录	INTELLIGENT ROBOTICS AND APPLICATIONS
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/12816]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
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]. 见:1st International Conference Intelligent Robotics and Applications. Wuhan, PEOPLES R CHINA. OCT 15-17, 2008.