A two-phase gripper to reorient and grasp
Name
A two-phase gripper.pdf
Size
1.29 MB
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Checksum (MD5)
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Author(s)
Mason, Matthew T.
Staab, Harald
Rossano, Gregory
Chavan Dafle, Nikhil Narsingh
Rodriguez Garcia, Alberto
Date Issued
October 2015
Journal
2015 IEEE International Conference on Automation Science and Engineering (CASE)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Chavan-Dafle, Nikhil, Matthew T. Mason, Harald Staab, Gregory Rossano, and Alberto Rodriguez. “A Two-Phase Gripper to Reorient and Grasp.” 2015 IEEE International Conference on Automation Science and Engineering (CASE) (August 2015).
Version
Author's final manuscript
Abstract
This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two phases to passively reorient prismatic objects from a horizontal resting pose to an upright secure grasp. This problem is particularly relevant to industrial assembly applications where parts often are presented lying on trays or conveyor belts and need to be assembled vertically. Each two-phase finger is composed of a small hard contact point attached to an elastic strip mounted over a V-groove cavity. When grasped between two parallel fingers with low gripping force, the object pivots about the axis between the contact points on the strips, and aligns upright with gravity. A subsequent increase in the gripping force makes the elastic strips recede into the cavities letting the part seat in the V-grooves to secure the grasp. The design is compatible with any type of parallel-jaw gripper, and can be reconfigured to specific objects by changing the geometry of the cavity. The two-phase gripper provides robots with the capability to accurately position and manipulate parts, reducing the need for dedicated part feeders or time-demanding regrasp procedures.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/CoASE.2015.7294269
