Synthesizing two-fingered grippers for positioning and identifying objects.

Synthesizing two-fingered grippers for positioning and identifying objects. Research Abstract Details 

Research Abstract Table of Contents

Jump to the:

Synthesizing two-fingered grippers for positioning and identifying objects. Abstract Text:

W H Qian,Q Hong,S K Tso,

Most industrial grippers now in use are two-fingered. Among them the parallel-jaw gripper is the simplest. It can partially remove the pose uncertainty of an object through grasping, such as the orientation uncertainty. This paper addresses a new type of grippers with the finger configuration of four circles instead of two parallel lines. It has a number of important advantages. Especially, it achieves form-closure and confines the object to a locally unique pose, so as to remove the pose uncertainty completely. It allows the gripped object to reach this pose freely without loss of required friction in the direction perpendicular to the grasping plane. More information can be acquired for identifying the object and its grasp mode. As a result the identification can be performed at one grasp. The key parameter of a symmetric four-pin gripper is the distance (span) between two pin centers on each finger, which depends upon the object shape and impacts the closure property, Based on a new approach to the grasp geometry, selection and limitations of the span are illustrated.

Synthesizing two-fingered grippers for positioning and identifying objects. Publishing Authors By Initials

WH Qian,Q Hong,SK Tso,

For similar abstracts research abstracts see: abstracts research

PUBMED ID PMID:

MEDLINE DATE:

Synthesizing two-fingered grippers for positioning and identifying objects. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: IEEE transactions on systems, man, and cybernetics

VOLUME: 31

Page Numbers: 602-15

Journal Abbreviation:

ISSN: 1083-4419

DAY: 4

MONTH: 02

YEAR: 2001

Synthesizing two-fingered grippers for positioning and identifying objects. Information

Number of References:

LANGUAGE: eng

NlmUniqueID: 9890044

Synthesizing two-fingered grippers for positioning and identifying objects. Keywords Mesh Terms:

KEYWORDS:

MESH TERMS:

Chemical & Substance for Abstract: Synthesizing two-fingered grippers for positioning and identifying objects. Information

Substance Name:

Registry Number:

Grant and Affiliation Information for Synthesizing two-fingered grippers for positioning and identifying objects.

AFFILIATION: Robotics Inst., Shanghai Jiaotong Univ.

Country: United States

AGENCY:

GRANT:

ACRONYM:

MEDLINETA: IEEE Trans Syst Man Cybern B C

REFSOURCE:

DATABASENAME:

ACCESSION NUMBER:

Number Hits: 0

Synthesizing two-fingered grippers for positioning and identifying objects Related Publications

• A possible mechanism of microglia-photoreceptor crosstalk.
• Activation of endoplasmic reticulum stress in degenerating photoreceptors of the rd1 mouse.
• Axoplasmic transport in papilledema and glaucoma.
• Book review: clinical ophthalmology: an asian perspective.
• Characterization of mice lacking the gene for cholecystokinin.
• Diurnal and nocturnal prey luring of a colorful predator.
• Drug-induced haemolysis in glucose-6-phosphate dehydrogenase deficiency.
• Endoplasmic reticulum stress is activated in light-induced retinal degeneration.
• Fasting and postprandial concentrations of GLP-1 in intestinal lymph and portal plasma: evidence for selective release of GLP-1 in the lymph system.
• Interaction of apolipoprotein AIV with cholecystokinin on the control of food intake.
• Mechanism of the induction of brain c-Fos-positive neurons by lipid absorption.
• Microglial activation in human diabetic retinopathy.
• Mixed lagrange time delay estimation autoregressive Wiener filter application for real-time SEM image enhancement.
• Multiple periorbital fibrous histiocytomas: a light and electron microscopic study.
• Sinomenine inhibits activation of rat retinal microglia induced by advanced glycation end products.
• Synthesizing two-fingered grippers for positioning and identifying objects.
• The aging human orbitofrontal cortex: Decreasing polyunsaturated fatty acid composition and associated increases in lipogenic gene expression and stearoyl-CoA desaturase activity.
• Using the lymph fistula rat model to study the potentiation of GIP secretion by the ingestion of fat and glucose.
• Why does the gut choose apolipoprotein B48 but not B100 for chylomicron formation?
• [Developmental stage-dependence of cyclin B1 protein localization and gene expression in rabbit spermatogenesis]
• [Pathological study of retinal excitotoxicity following subretinal injection of NMDA.]