Title :
On grasp choice, grasp models, and the design of hands for manufacturing tasks
Author :
Cutkosky, Mark R.
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., CA, USA
fDate :
6/1/1989 12:00:00 AM
Abstract :
Current analytical models of grasping and manipulation with robotic hands contain simplifications and assumptions that limit their application to manufacturing environments. To evaluate these models, a study was undertaken of the grasps used by machinists in a small batch manufacturing operation. Based on the study, a taxonomy of grasps was constructed. An expert system was also developed to clarify the issues involved in human grasp choice. Comparisons of the grasp taxonomy, the expert system, and grasp-quality measures derived from the analytic models reveal that the analytic measures are useful for describing grasps in manufacturing tasks despite the limitations in the models. In addition, the grasp taxonomy provides insights for the design of versatile robotic hands for manufacturing
Keywords :
expert systems; industrial robots; batch manufacturing operation; expert system; grasp choice; grasp models; grasp taxonomy; grasp-quality measures; hand design; industrial robots; manipulation; robotic hands; Expert systems; Fixtures; Geometry; Humans; Laboratories; Machining; Robot sensing systems; Robotics and automation; Taxonomy; Virtual manufacturing;
Journal_Title :
Robotics and Automation, IEEE Transactions on