Version 2 2024-06-06, 11:45Version 2 2024-06-06, 11:45
Version 1 2015-04-24, 12:10Version 1 2015-04-24, 12:10
conference contribution
posted on 2024-06-06, 11:45authored byP Dzitac, A Md Mazid, G Littlefair, A Polishetty
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.
History
Volume
2
Pagination
396-401
Location
Vienna, Austria
Start date
2014-09-01
End date
2014-09-03
ISBN-13
9789897580406
Language
eng
Publication classification
E Conference publication, E1 Full written paper - refereed
Copyright notice
2014, IEEE
Editor/Contributor(s)
Filipe J, Gusikhin O, Madani K, Sasiadek J
Title of proceedings
ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Event
Informatics in Control, Automation and Robotics. Conference (11th : 2014 : Vienna, Austria)