Abstract
This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.
Original language | English |
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Title of host publication | ICINCO 2014 |
Subtitle of host publication | Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics |
Editors | Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek |
Place of Publication | Setúbal, Portugal |
Publisher | SciTePress |
Pages | 396-401 |
Number of pages | 6 |
Volume | 2 |
ISBN (Electronic) | 9789897580406 |
DOIs | |
Publication status | Published - 2014 |
Externally published | Yes |
Event | 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria Duration: 1 Sep 2014 → 3 Sep 2014 |
Other
Other | 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 |
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Country/Territory | Austria |
City | Vienna |
Period | 1/09/14 → 3/09/14 |
Keywords
- Gripper design
- Manipulation reliability
- Slippage control