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Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map

  • Narcís Gascons
  • Haijun Su
  • J. M. McCarthy
Chapter

Abstract

For two cooperating robots holding a workpiece, the type map that relates the motion of the workpiece to the extensions of the arms can be used as a tool to characterize the performance of the system. These type maps are built using the discriminants of the closure equations. Several examples are presented to discuss the performance of the system, which is mainly dependant on the geometry of the grasp.

Keywords

Type map cooperating robots fingers grasp 

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References

  1. Cervantes, J.J., Hernández, J.C. and Angeles, J. (2001), On the kinematic design of the 5R planar, symmetric manipulator, Mechanimsm and Machine Theory, no. 36, pp. 1301–1313.zbMATHCrossRefGoogle Scholar
  2. Gascons, N. (2001) Evaluation, along the workspace of the capacity of an articulated gripper to manipulate a solid Ph.D. thesis, Barcelona, UPC. McCarthy, J.M. (2000) Geometric design of linkages Springer.Google Scholar
  3. Merlet, J-P. (1997), Les robots parallèles, Paris, Hermes.Google Scholar
  4. Su, H., and McCarthy, J.M. (2001), Classification of RRSS linkages, Proceedings of the 2001 ASME Design Engineering Technical Conferences, Pittsburgh, USA.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Narcís Gascons
    • 1
  • Haijun Su
    • 2
  • J. M. McCarthy
    • 2
  1. 1.Dept. of Mechanical EngineeringUniversitat de GironaGironaSpain
  2. 2.Robotics LaboratoryUniversity of CaliforniaIrvineUSA

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