TY - GEN
T1 - Enveloping grasp planning of a three-fingered deployable metamorphic robotic grasper
AU - Gao, Changqing
AU - Zhang, Yang
AU - Lei, Hong
AU - Kang, Xi
AU - Xu, Peng
AU - Li, Bing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.
AB - This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.
KW - enveloping grasp planning
KW - grasping simulation
KW - metamorphic mechanism
KW - robotic grasper
UR - https://www.scopus.com/pages/publications/85159783268
U2 - 10.1109/CBS55922.2023.10115393
DO - 10.1109/CBS55922.2023.10115393
M3 - 会议稿件
AN - SCOPUS:85159783268
T3 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
SP - 80
EP - 85
BT - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
Y2 - 24 March 2023 through 26 March 2023
ER -