In-hand manipulation is a frequently demanded task which requires a significant dexterity from grippers. Operations such as object twisting, re-grasping and re-positioning with correct posture after manipulation are the major industrial challenges. Such requiring also determine design complexity of grippers. This paper proposes a new modular two DOF finger which is capable to do manipulation such as twist object about two independent axes when used in modular assembled configuration. Multiple identical fingers of such type can be used to build the gripper whose primary purposes are solving manipulation and after manipulation requirements such as regrasp and release object with appropriate posture. The fingers are implemented in the gripper by means of a properly conceived mechanism to ensure the mobility needed for grasping. In this research, the manipulation capabilities of the gripper developed by such identical fingers is investigated by the means of simulation in a multibody simulated environment. Moreover, a prototype of one finger has been built for preliminary inspection of the modular entity which represents the constructive base of the gripper concept object of this study.
A novel reconfigurable modular gripper for in-hand object manipulation & release with appropriate posture / Rahman, N.; Carbonari, L.; D'Imperio, M.; Canali, C.; Caldwell, D. G.; Cannella, F.. - 5:(2016). (Intervento presentato al convegno ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 tenutosi a usa nel 2016) [10.1115/DETC2016-59837].
A novel reconfigurable modular gripper for in-hand object manipulation & release with appropriate posture
Carbonari L.;
2016-01-01
Abstract
In-hand manipulation is a frequently demanded task which requires a significant dexterity from grippers. Operations such as object twisting, re-grasping and re-positioning with correct posture after manipulation are the major industrial challenges. Such requiring also determine design complexity of grippers. This paper proposes a new modular two DOF finger which is capable to do manipulation such as twist object about two independent axes when used in modular assembled configuration. Multiple identical fingers of such type can be used to build the gripper whose primary purposes are solving manipulation and after manipulation requirements such as regrasp and release object with appropriate posture. The fingers are implemented in the gripper by means of a properly conceived mechanism to ensure the mobility needed for grasping. In this research, the manipulation capabilities of the gripper developed by such identical fingers is investigated by the means of simulation in a multibody simulated environment. Moreover, a prototype of one finger has been built for preliminary inspection of the modular entity which represents the constructive base of the gripper concept object of this study.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
