Modeling, Design and Prototyping of a Multi-Degree-of- Freedom Robotic Gripper System for Limp Material Manipulation

该研究项目是建模、设计和实验评估一个可重构的机器人抓取系统，该系统能够以可靠和快速的方式处理各种尺寸和形状的柔软材料，而不会造成柔软材料的损坏、扭曲和变形/折叠。将对系统进行几何、静态和动态分析，并开发抓取规划方法来推导和综合稳定的抓取配置。将开发一种基于传感器的分级控制系统来控制可重构夹持器系统的操作。抓取稳定性和整体系统性能将被评估。软材料操纵是一个具有挑战性的研究领域，迄今为止进展缓慢。该研究具有显著推进目前处理软物品和柔性物体的机器人技术的潜力。

This research project is to model, design and experimentally evaluate a reconfigurable robotic gripper system capable of handling a wide variety of sizes and shapes of limp material in a reliable and rapid manner, without causing damage, distortion, and deformation/folding of the limp material. Geometric, static, and dynamic analyses of the system will be performed, and grasp planning methods will be developed to derive and synthesize stable grasp configurations. A sensor-based hierarchical control system will be developed to control the operation of the reconfigurable gripper system. Grasp stability and overall system performance will be evaluated. Limp material manipulation is a challenging area of research in which the progress has been slow thus far. The research has the potential of significantly advancing the present robotic technology for handling of soft goods and flexible objects.