Automatic evaluation of two-fingered grips

Grip determination is essential to any task-level planning process. The complete force/moment equations are presented for grasping employing a rigid two-fingered gripper with a thin elastic layer on the contacting surface. The surface contact is modeled as a linear pressure variation. The quality measure of a grip is taken to be the coefficient of friction needed to keep the held object from slipping between the fingers under applied forces and moments. The lower the coefficient of friction, the better the grip. Incorporation of this evaluation into general grip selection strategy is discussed, and several examples are given.

[1]  David F. Shanno,et al.  Remark on “Algorithm 500: Minimization of Unconstrained Multivariate Functions [E4]” , 1980, TOMS.

[2]  Michael Brady,et al.  Parts Description And Acquisition Using Vision , 1982, Other Conferences.

[3]  H. Hanafusa,et al.  Stable Prehension by a Robot Hand with Elastic Fingers , 1977 .

[4]  Ronald S. Fearing.  Simplified Grasping and Manipulation with Dextrous Robot Hands , 1984 .

[5]  J. Michael McCarthy,et al.  On grasping planar objects with two articulated fingers , 1985, IEEE J. Robotics Autom..

[6]  Takeo Kanade,et al.  Appropriate lengths between phalanges of multijointed fingers for stable grasping , 1983, J. Field Robotics.

[7]  Richard Paul Collins Paul,et al.  Modelling, trajectory calculation and servoing of a computer controlled arm , 1972 .

[8]  Amitabha Mukerjee,et al.  Self-calibration in robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[9]  Brenda S. Baker,et al.  Stable prehension with a multi-fingered hand , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[10]  Tomas Lozano-Perez,et al.  The Design of a Mechanical Assembly System , 1976 .

[11]  Richard A. Volz,et al.  Automatic generation of gripping positions , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[12]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[13]  Matthew Thomas Mason,et al.  Manipulator grasping and pushing operations , 1982 .

[14]  T. Lozano-Perez,et al.  Robot programming , 1983, Proceedings of the IEEE.

[15]  J. Michael McCarthy,et al.  Computing the friction forces associated with a three-fingered grasp , 1985, IEEE J. Robotics Autom..

[16]  George A. Bekey,et al.  Identification of parameters in models of robots with rotary joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.