Towards grasping in unstructured environments: grasper compliance and configuration optimization

被引：86
作者：
Dollar, AM [1 ]
Howe, RD [1 ]
机构：
[1] Harvard Univ, Sch Med, Div Engn & Appl Sci, Cambridge, MA 02138 USA
来源：
ADVANCED ROBOTICS | 2005年 / 19卷 / 05期
关键词：
grasping; compliance; unstructured environments; mechanism design;
D O I：
10.1163/156855305323383785
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied in order to maximize successful grasp range and minimize contact forces for a wide range of target object size. Joint rest angles around 25-45 degrees produced near-optimal results if the stiffness of the base joint was much smaller than the intermediate joint, as confirmed experimentally.
引用
收藏
页码：523 / 543
页数：21
相关论文
共 21 条
  • [1] Biagiotti L, 2003, IEEE INT CONF ROBOT, P3187
  • [2] Bruyninckx H, 1998, IEEE INT CONF ROBOT, P2396, DOI 10.1109/ROBOT.1998.680699
  • [3] Clark JE, 2001, IEEE INT CONF ROBOT, P3643, DOI 10.1109/ROBOT.2001.933183
  • [4] Cutkosky M. R., 1987, Proceedings of the 1987 IEEE International Conference on Robotics and Automation (Cat. No.87CH2413-3), P1649
  • [5] COMPUTING AND CONTROLLING THE COMPLIANCE OF A ROBOTIC HAND
    CUTKOSKY, MR
    KAO, I
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (02): : 151 - 165
  • [6] Desai JP, 2001, IEEE INT CONF ROBOT, P4214, DOI 10.1109/ROBOT.2001.933276
  • [7] FRANCOIS C, 1991, 1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, P2261
  • [8] HIROSE S, 1983, P ISIR, P112
  • [9] HOWARD WS, 1995, IEEE INT CONF ROBOT, P1367, DOI 10.1109/ROBOT.1995.526028
  • [10] Jacobsen S. C., 1986, Proceedings 1986 IEEE International Conference on Robotics and Automation (Cat. No.86CH2282-2), P1520
123