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An adaptive locating problem for robotic grasping

Published online by Cambridge University Press:  25 April 2001

V. Portman ,
L. Slutski  and
Y. Edan
V. Portman
Affiliation:
Department of Mechanical Engineering, Pearlstone Center for Aeronautical Studies, Ben-Gurion University of the Negev, P.O.B. 653, 84105 Beer-Sheva (Israel).
L. Slutski
Affiliation:
Department of Mechanical Engineering, McGill University, Montreal, Quebec (Canada) H3A 2A7.
Y. Edan
Affiliation:
Department of Industrial Engineering & Management, Ben-Gurion University of the Negev, P.O.B. 653, 84105 Beer-Sheva (Israel).
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Abstract

The paper addresses a problem of “in-hand” locating parts of different shapes in robotic grasping. The goal of the process is to locate a part of an arbitrary shape from an imprecisely determined initial position within a gripper to a final prescribed one. Two possible approaches to solve the problem are considered: non-adaptive, using ordinary rigid jaws of gripper and, adaptive, using an adaptive jaw which improves the performance of the locating process. The latter approach is proposed to be solved by a new type of grasping mechanism. Its theoretical analysis enables to obtain formal conditions for part behavior during the successive steps of the locating process. This process was simulated and then experimentally investigated on an actual gripper model. The proposed new class of mechanisms opens a promising avenue to the creation of a practical class of universal robotic grippers for industry.

Keywords

Robotic graspingParts locationGripper model
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 295 - 304
Copyright
2001 Cambridge University Press

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