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

Authors
Jin, JingFuYuen, Shang LiLee, Young HoonJun, ChangHyunKim, Youngji BrigidLee, SungonYou, Bum-JaeDoh, Nakju Lett
Issue Date
2013-09
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.60, no.9, pp.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 pick-and-place tasks.
Keywords
VIBRATION SUPPRESSION; MANIPULATOR; HAND; IMPLEMENTATION; SERVICE; VIBRATION SUPPRESSION; MANIPULATOR; HAND; IMPLEMENTATION; SERVICE; Enveloping; flexibility; pick and place; robotic grasper; robotic hand; self-stability
ISSN
0278-0046
URI
https://pubs.kist.re.kr/handle/201004/127714
DOI
10.1109/TIE.2012.2205349
Appears in Collections:
KIST Article > 2013
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