Abstract
The performance of a multi-finger robotic gripper is measured in terms of its capability to grasp and manipulate objects successfully. Manipulation of an object is possible only if it is stable within its grasp. Moreover, most of the manipulation task is done only when the object is grasped by precision grasping rather than power grasping. Also, the manipulability of the object by a gripper depends upon size and shape of the object. It is, therefore, important to evaluate the shape and size range that a robotic gripper can grasp to understand its area of application. The work presented here proposes a method to identify the maximum size of an object which a gripper can grasp by precision grasping. The workspace of the hand is utilized for this purpose. The methodology is demonstrated on a new four-finger tendon-driven robotic gripper developed in the laboratory.
References
Zhang Wenzeng, Zhao Deyang, Chen Qiang, Du Dong.: Linkage under-actuated humanoid robotic hand with of grasping force. In IEEE 2nd International Conference on Informatics in Control, Automation and Robotics (CAR). (Vol-2), (29 April 2010) doi:Â 10.1109/CAR.2010.5456585.
Biagiotti L., Lotti F., Melchiorri C., Vassura G.: How Far is the Human Hand? A Review on Anthropomorphic End Effectors. DIES Internal Report, University of Bologna, Tech. Rep. (2004).
Biagiotti L.: Advanced robotic hands: Design and control aspects. Ph.D. dissertation, Universita Degli Studi di Bologna, (2002).
L.C. Kuo, H.Y. Chiu, C.W. Chang, H.Y. Hsu, and Y.N. Sun: Functional workspace for precision manipulation between thumb and fingers in normal hands. Journal of electromyography and kinesiology, vol. 19, no. 5, pp. 829–839, (Oct 2009).
Gupta. K.: On the nature of robot workspace. International Journal of Robotics Research 5(2):112–121 (1986). (Pubitemid 16592727).
Rastegar J., Perel D.: Generation of manipulator workspace boundary geometry using the monte carlo method and interactive computer graphics. In ASME Trends and Developments in Mechanisms Machines and Robotics Vol.3 pages 299–305. (1988).
Hong Zhang: Efficient evaluation of the feasibility of robot displacement trajectories. In IEEE Transactions on Systems Man and Cybernetics 23(1):324–330. (1993).
J. Yang K., Malek Abdel, Nebel K.: Reach envelope of a 9-degree-of-freedom model of the upper extremity. International Journal of Robotics and Automation 20(4):240–259. (2005). (Pubitemid 41499038).
Shin Seunghoon, Han Sangchul, Lee Kunwook, Moon Hyungpil, Choi Hyouk Ryeol, Koo Ja Choon: A design framework for dexterous robotic hand. IEEE 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). (23–26 Nov. 2011).
Vahrenkamp Nikolaus, Arnst Harry, Wächter Mirko, Schiebener David, Sotiropoulos Panagiotis, Kowalik Michal, Asfour Tamim.: Workspace analysis for planning human-robot interaction tasks. IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), (15–17 Nov. 2016).
T. Feix, R. Pawlik, H. Schmiedmayer, J. Romero, D. Kragic: A comprehensive grasp taxonomy: In Robotics, Science and Systems: Workshop on Understanding the Human Hand for Advancing Robotic Manipulation. (June 2009). http://grasp.xief.net.
M. Cutkosky: On grasp choice, grasp models, and the design of hands for manufacturing tasks. Robotics and Automation, IEEE Transactions on, vol. 5, no. 3, pp. 269–279, (Jun 1989).
https://www.fgc.edu/wp-content/uploads/2011/12/averages-of-rom.pdf.
Marieb, Elaine N:Â Human Anatomy & Physiology (Sixth ed.). Pearson PLC. ISBN 0-321-20413-1. (2004).
William H. McCrea: Analytic Geometry of Three Dimensions. Courier Dover Publications, (Jan 27, 2012).
Spiegel M.R., Lipschutz S., Spellman D. Vector Analysis (Schaum’s Outlines) (2nd ed.). McGraw Hill. ISBN 978-0-07-161545-7 (2009).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Ehtesham, N., Mukherjee, S., Suhaib, M. (2018). Object Size Determination Grasped by a Four-Finger Gripper Using Workspace Analysis. In: Singh, R., Choudhury, S., Gehlot, A. (eds) Intelligent Communication, Control and Devices. Advances in Intelligent Systems and Computing, vol 624. Springer, Singapore. https://doi.org/10.1007/978-981-10-5903-2_81
Download citation
DOI: https://doi.org/10.1007/978-981-10-5903-2_81
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-5902-5
Online ISBN: 978-981-10-5903-2
eBook Packages: EngineeringEngineering (R0)