ISSN:
0143-991X
Source:
Emerald Fulltext Archive Database 1994-2005
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Purpose - Selection of an effective grasp of a complex object using a multifingered gripper is a challenging problem because of the many possible grasp positions that are typically available. Design/methodology/approach - Given the geometrical description of the particular object feature to be grasped, all feasible grasps are performed in offline simulation using a geometrically accurate model of the desired gripper. The six-dimensional convex hull for each grasp is computed and archived. This convex hull indicates the span of forces and torques that the grasp can resist. When a grasp is needed the force/torque due to the total object weight is estimated and the best grasp is selected. The selected grasp has minimum peak contact force consistent with equilibrium. Findings - Experimental trials with several complex object show the method is capable of producing grasps which can support the object and resist external force/torque. Research limitations/implications - An accurate geometrical description of the feature to be grasped must be known in advance. This would typically be a cylindrical or prismatic portion of the object. Practical implications - There are many environments in which a dexterous multifingered gripper must be used due to the variety of objects which must be grasped. The results indicate that effective grasps can be selected for complex objects from a database of simulated grasps. Originality/value - The primary contribution of this paper is the use of a database of simulated grasps on simple graspable features to synthesize grasps on complex objects.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1108/01439910510573255
