Computer aided design algorithms for polyvalent gripper systems

In this paper we present a methodological approach to design polyvalent gripper systems (PGS). It is composed by a set of algorithms which allow to tackle and to solve key steps of design: grasp force planning, grasp mechanism (rigid or manipulable) designing, kinematic chain designing (to realize &...

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Bibliographic Details
Published inIEEE International Conference on Systems, Man and Cybernetics, 1993 Vol. 1; pp. 226 - 232 vol.1
Main Authors Gorce, P., Villard, C., Fontaine, J.G., Bidaud, P.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 1993
Subjects
Algorithm design and analysis
Design methodology
Grasping
Grippers
Kinematics
Laboratories
Manipulators
Robotics and automation
Service robots
Shape
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ISBN9780780309111
0780309111
DOI10.1109/ICSMC.1993.384750

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Summary:In this paper we present a methodological approach to design polyvalent gripper systems (PGS). It is composed by a set of algorithms which allow to tackle and to solve key steps of design: grasp force planning, grasp mechanism (rigid or manipulable) designing, kinematic chain designing (to realize "configuration" mobilities). To do this, we used some heuristics in order to obtain an optimal solution for each design problems. In the following stages, we will give more details on these polyvalent systems and we develop these algorithms. To illustrate the results obtained by this approach, we will give an example of PGS designing.< >
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ISBN:9780780309111
0780309111
DOI:10.1109/ICSMC.1993.384750