Synthesizing two-fingered grippers for positioning and identifying objects
文献类型：期刊论文
| 作者 | Qian, WH ; Qiao, H; Tso, SK
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
 |
| 出版日期 | 2001-08 |
| 卷号 | 31期号:4页码:602-615 |
| 关键词 | four-pin gripper gripper synthesis object identification object positioning pose uncertainty two-fingered gripper |
| 通讯作者 | Qian, WH |
| 英文摘要 | Most industrial grippers now in use are two-fingered. Among them the parallel-jaw gripper is the simplest. It can partially remove the pose uncertainty of an object through grasping, such as the orientation uncertainty. This paper addresses a new type of grippers with the finger configuration of four circles instead of two parallel lines. It has a number of important advantages. Especially, it achieves form-closure and confines the object to a locally unique pose, so as to remove the pose uncertainty completely. It allows the gripped object to reach this pose freely without loss of required friction in the direction perpendicular to the grasping plane. More information can be acquired for identifying the object and its grasp mode. As a result the identification can be performed at one grasp. The key parameter of a symmetric four-pin gripper is the distance (span) between two pin centers on each finger, which depends upon the object shape and impacts the closure property. Based on a new approach to the grasp geometry, selection and limitations of the span are illustrated. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12584]  |
| 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 | Shanghai Jiao Tong Univ, Inst Robot |
| 推荐引用方式 GB/T 7714 | Qian, WH,Qiao, H,Tso, SK. Synthesizing two-fingered grippers for positioning and identifying objects[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2001,31(4):602-615. |
| APA | Qian, WH,Qiao, H,&Tso, SK.(2001).Synthesizing two-fingered grippers for positioning and identifying objects.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,31(4),602-615. |
| MLA | Qian, WH,et al."Synthesizing two-fingered grippers for positioning and identifying objects".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 31.4(2001):602-615. |
入库方式： OAI收割
来源：自动化研究所
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