A New, Simple and Universal Four-Finger Gripper for 3D Objects Grasping
文献类型：会议论文
| 作者 | Su, Jianhua ; Liu, Chuankai; Qiao, Hong
|
| 出版日期 | 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
 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。