Minimal Grasper: A Practical Robotic Grasper with Robust Performance for Pick-and-Place Tasks

Title
Minimal Grasper: A Practical Robotic Grasper with Robust Performance for Pick-and-Place Tasks
Authors
JingFu JinShang Li YuenYoung Hoon LeeChangHyun JunYoungji Brigid Kim이성온유범재Nakju Lett Doh
Issue Date
2013-09
Publisher
IEEE transactions on industrial electronics
Citation
VOL 60, NO 9, 3796-3805
Abstract
In this paper, a flexible enveloping grasper is proposed for pick-and-place tasks with low manipulation and task planning complexity for practical applications. The proposed grasper has two main characteristics: self-adaptivity and flexibility. Self-adaptivity means that the proposed grasper can grip an object in a self-adaptive way such that various process complexities (e.g., sensing, force control, and sensor–motor coordination) are significantly reduced. By flexibility, we mean that, by using a flexible material, a stable grip can be implemented to cause increased friction between the grasper and the target object as a result of increased contact area. These two properties help the proposed grasper to minimize internal forces in a passive manner and to achieve successful force distribution with self-adaptivity when performing enveloping grasping. Three sets of experiments were performed with an average success rate of 93.2% in pickand- place tasks.
URI
http://pubs.kist.re.kr/handle/201004/45147
ISSN
02780046
Appears in Collections:
KIST Publication > Article
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