An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp
文献类型：期刊论文
| 作者 | Li, Rui4 ; Cao, Yanjun3; Bing, Zhenshan2; Qiao, Hong1
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2022-11-11 |
| 页码 | 12 |
| 关键词 | Four-pin gripper form closure stable grasping |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2022.3217509 |
| 通讯作者 | Li, Rui(raysworld@outlook.com) |
| 英文摘要 | The four-pin gripper is an ideal end-effector to achieve form-closure grasps, which is especially useful in scenarios where a stable grasp is necessary. In this article, we propose an improved parallel four-pin gripper design. Compared with the previous designs, the new design achieves more planar configurations while introducing only one more actuator, thus enlarging the possibility of the gripper to stably grasp. Based on the improved design, we extend the environment constraint-based form-closure grasping point search algorithm to find the optimal parameters for the improved four-pin gripper. Furthermore, we apply an inverse kinematics-based planning method to drive the gripper from any initial state to a form-closure state. The simulation and experiment demonstrate that, compared with the previous designs, the improved design can achieve stable grasping for a wider range of planar objects. |
| WOS关键词 | DESIGN |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000886913400001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51275]  |
| 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 |
| 通讯作者 | Li, Rui |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Tech Univ Munich, Informat, D-80333 Munich, Germany 3.Zhejiang Univ, Huzhou Inst, Huzhou 313000, Peoples R China 4.Chongqing Univ, Sch Automat, Chongqing 400040, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Rui,Cao, Yanjun,Bing, Zhenshan,et al. An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:12. |
| APA | Li, Rui,Cao, Yanjun,Bing, Zhenshan,&Qiao, Hong.(2022).An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
| MLA | Li, Rui,et al."An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):12. |
入库方式： OAI收割
来源：自动化研究所
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