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Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

Riedel, M and Nefzi, M and Corves, B (2010) Grasp planning for a reconfigurable parallel robot with an underactuated arm structure. In: IFToMM/ASME International Workshop.

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    In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping). This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user’s preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

    Type du document: Conference or Workshop Item (Paper)
    Sujets: Articles > Sciences de la santé
    Divisions: UNSPECIFIED
    Déposé par: Editeur UVT
    Date de dépôt: 06 Apr 2011 13:52
    Dernière modification: 06 Apr 2011 13:52

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