Picking, grasping, or scooping small objects lying on flat surfaces: A design approach
Picking, grasping, or scooping small objects lying on flat surfaces: A design approach
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DOI：
10.1177/0278364918802346
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发表时间：
2018-10-01
影响因子：
9.2
通讯作者：
Gosselin, Clement
中科院分区：
文献类型：
--
作者：
Babin, Vincent;Gosselin, Clement
到目前为止，在约束环境中抓取是一个正在进行的研究课题。物体很少能从任意方向抓取，因此需要研究可用于抓取它们的选项。本文提出了一种夹持器能够抓住小或薄的物体，不能直接捏抓。重点放在位于硬表面上的物体上。所提出的方法使用了一个准静态的方法，称为铲，同时实施被动拇指，以补偿机械手定位误差。因此，与人手执行精确抓取类似，在抓取器抓取物体时不需要移动机器人臂。提出了设计方法，并解释了主要的设计选择，即使用周转轮系代替传统的转动关节。所提出的方法的夹具设计的实施。我们解释了如何实现平行捏把握和大把握力，即使该机制不遵循通常的四杆平行捏机制的实施。实验验证所提出的概念，然后通过拿起一组测试对象的顺序，并展示了一些变体的方法，扩展的概念。
Grasping in constrained environments is, to this day, an ongoing research topic. Objects can rarely be grasped from arbitrary directions, hence the need to study the options available to grasp them. This paper proposes a gripper capable of grasping small or thin objects that cannot be directly pinch-grasped. The focus is placed on objects that lie on hard surfaces. The proposed approach uses a quasistatic method referred to as scooping while implementing a passive thumb to compensate for manipulator positioning errors. Hence, the robot arm does not need to be moved while the gripper is grasping an object, similarly to a human hand performing a precision grasp. The design approach is presented and the main design choice, namely the use of epicyclic gear trains instead of conventional revolute joints, is explained. The implementation of the proposed approach to the gripper design is shown. We explain how parallel pinch grasps and large grasping forces are achieved even though the mechanism does not follow the usual parallelogram four-bar implementation of parallel pinch mechanisms. The experimental validation of the proposed concept is then presented by picking up a set of test objects in sequence and demonstrating some variants of the method that expand on the concept.