Finger design automation for industrial robot grippers: A review

被引：72
作者：
Honarpardaz, M. [1 ]
Tarkian, M. [2 ]
Olvander, J. [2 ]
Feng, X. [1 ]
机构：
[1] ABB, Corp Res Ctr, Forskargrand 7, S-72178 Vasteras, Sweden
[2] Linkoping Univ, Div Machine Design, S-58183 Linkoping, Sweden
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2017年 / 87卷
关键词：
Grippers fingers; Design automation; Grasp synthesis; Grasp analysis; FORCE-CLOSURE GRASPS; EFFICIENT ALGORITHM; WRENCH SPACE; OBJECTS; 3-D; HANDS; 2-D;
D O I：
10.1016/j.robot.2016.10.003
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Designing robust end-effector plays a crucial role, in performance of a robot workcell. Design automation of industrial grippers' fingers/jaws is therefore of the highest interest in the robot industry. This paper systematically reviews the enormous studies performed in relevant research areas for finger design automation. Key processes for successfully achieving automatic finger design are identified and research contributions in each key process are critically reviewed. The proposed approaches in each key process are analyzed, verified and benchmarked. The most promising methods to accomplish finger design automation are highlighted and presented. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码：104 / 119
页数：16
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