NDLI: Design and Test of Object Aligning Grippers for Industrial Applications

Content Provider	IEEE Xplore Digital Library
Author	Ellekilde, L.-P. Petersen, H.G.
Copyright Year	2006
Description	Author affiliation: Maersk Mc-Kinney Moller Inst., Southern Denmark Univ., Campusvej (Ellekilde, L.-P.; Petersen, H.G.)
Abstract	In this paper we present a new concept for gripping objects in industrial applications. We assume that a priori, the object pose is only known with a relative low accuracy. Despite this, our method can lead to high accuracy gripping suitable for e.g. industrial assembly. Our concept is to augment a simple parallel gripper by mounting a set of object specific jaws. Given the right shapes these jaws enable the gripper to automatically align the object, and thereby compensate for errors in the original object pose estimation. We introduce a couple of automatic and semi-automatic design strategies for deriving these shapes and describe how these can be verified by simulations using rigid body dynamics. The output of our system is a CAD model for the jaws. We prove our concept with a number of experiments, which are also used to verify the coherence between the simulation and real world
Starting Page	5165
Ending Page	5170
File Size	217099
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281652
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Testing Grippers Mass production Machine vision Application software Shape Costs Fixtures Belts Sensor arrays
Content Type	Text
Resource Type	Article

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