This project addresses the task of Automatic Generation of Gripping Positions for assembly operations. It presents an algorithm to find the gripping faces for a two jaw gripper based on features of the object and the geometry of the object and assembly. The geometric data of the object is obtained from a solid modeler(IDEAS). The geometric data of the object such as faces, edges and vertices de...

This paper presents the design and optimization of a self-adaptive, a.k.a. underactuated, finger targeted to be used with collaborative robots. Typical robots, whether collaborative or not, mostly rely on standard translational grippers for pickand-place operations. These grippers are constituted from an actuated motion platform on which a set of jaws is rigidly attached. These jaws are often d...

based manipulation planning as a game with nature. Planning sequences of squeeze-grasps to orient and grasp polygonal objects. Grasping planar curved parts with a parallel-jaw gripper. We have considered the planar problem of determining the convex shape of a polygonal part from a sequence of measurements taken with a frictionless parallel-jaw gripper. We have derived both negative 25] and posi...

While there have been numerous reports on the electromechanical actuation of carbon nanotubes (CNTs), devices based on the photomechanical actuation of CNTs have been elusive until now. In this paper, we report the integration of single-wall carbon nanotube ensembles into micro-mechanical systems to realize a new carbon nanotube micro-opto-mechanical system (CNT-MOMS). CNT-MOM grippers were fab...

The present paper presents a system used for performing design by making extended use of soft computing techniques. Throughout the paper the design of robotic grippers for flexible materials is used as a reference design case in both its conceptual and detailed design phases. The system contains three modules. The first module focuses on the conceptual design phase and is used for: a. the gener...

Traditionally, robot grasping has been approached in two separate phases: first, finding contact positions that yield optimal grasps and, then, moving the robot hand to these positions. This approach works well when the object’s location is known exactly and the robot’s control is perfect. However, in the presence of uncertainty, this approach often leads to failure, usually because the robot’s...

We consider the problem of grasping an unknown polygonal at object using a parallel jaw gripper. Our design equips a standard gripper with several light-beam sensors (close to each jaw) and employs a control scheme based on a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object signiicantly. The goal is to ...

Grasping analysis is concerned with relating the characteristics of the grasped object to the requirements of the gripper structure. When a gripper presses a flexible specimen with a size larger than that of the gripping surface, complex deformations are produced (compression, shearing, bending and tension). The boundary conditions are complex too because of the changing compressed region and, ...