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夹持器系统能够处理各种尺寸和形状的柔软材料在一个可靠的和快速的方式，而不会造成损坏，扭曲，变形/折叠柔软的材料。 几何，静态和动态分析的系统将被执行，并把握规划方法将被开发，以获得和合成稳定的把握配置。 一个基于传感器的分层控制系统将被开发来控制可重构夹持器系统的操作。 将评价夹持稳定性和整体系统性能。 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。这项研究有可能显着推进目前的机器人技术，用于处理软货物和柔性物体。

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.