Minimal Grasper: A Practical Robotic Grasper With Robust Performance for Pick-and-Place Tasks

作者：Jin JingFu; Yuen Shang Li; Lee Young Hoon; Jun ChangHyun; Kim Youngji Brigid; Lee Sungon; You Bum Jae; Doh Nakju Lett^*

来源：IEEE Transactions on Industrial Electronics, 2013, 60(9): 3796-3805.

DOI：10.1109/TIE.2012.2205349

• Enveloping
• flexibility
• pick and place
• robotic grasper
• robotic hand
• self-stability

In this paper, a flexible enveloping grasper is proposed for pick-and-place tasks with low manipulation and task planning complexity for practical applications. The proposed grasper has two main characteristics: self-adaptivity and flexibility. Self-adaptivity means that the proposed grasper can grip an object in a self-adaptive way such that various process complexities (e. g., sensing, force control, and sensor-motor coordination) are significantly reduced. By flexibility, we mean that, by using a flexible material, a stable grip can be implemented to cause increased friction between the grasper and the target object as a result of increased contact area. These two properties help the proposed grasper to minimize internal forces in a passive manner and to achieve successful force distribution with self-adaptivity when performing enveloping grasping. Three sets of experiments were performed with an average success rate of 93.2% in pick-and-place tasks.

• 出版日期2013-9