Title :
On computing form-closure grasps/fixtures for non-polygonal objects
Author :
Cornellà, Jordi ; Suárez, Raul
Author_Institution :
Inst. d´´Organitzacio i Control de Sistemes Industrials, Barcelona
Abstract :
Form-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a form-closure grasp. These regions are useful to provide some robustness to the grasp in the presence of uncertainty as well as in the design of fixtures. The paper presents a new approach to compute independent regions for four frictionless contacts. A sufficient condition is stated and used to obtain combinations of two contact points that allow a form-closure grasp. Then, selecting one of these combinations, a set of four independent regions on the object boundary is determined. An example of the proposed methodology is included in the paper
Keywords :
design; dexterous manipulators; fixtures; grippers; industrial manipulators; mechanical contact; contact points; fixture design; form-closure fixtures; form-closure grasps; form-closure independent regions; frictionless contacts; nonpolygonal objects; object edges; Assembly; Fingers; Fixtures; Friction; Industrial control; Manufacturing industries; Manufacturing processes; Robustness; Sufficient conditions; Uncertainty;
Conference_Titel :
Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-9080-6
DOI :
10.1109/ISATP.2005.1511463
