Object Size Determination Grasped by a Four-Finger Gripper Using Workspace Analysis
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.
KeywordsWorkspace Object size Position vectors
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