Robotic, Grippers, Grasping, and Grasp Planning

Robotic, Grippers, Grasping, and Grasp Planning

Seyed Javad Mousavi (Tarbiat Modares University, Iran) and Ellips Masehian (Tarbiat Modares University, Iran)
Copyright: © 2013 |Pages: 24
DOI: 10.4018/978-1-4666-4225-6.ch016


Utilizing robotic hands for manipulating objects and assembly requires one to deal with problems like immobility, grasp planning, and regrasp planning. This chapter integrates some essential subjects on robotic grasping: the first section presents a concise taxonomy of robotic grippers and hands. Then the basic concepts of grasping are provided, including immobility, form-closure, and force-closure, 2D and 3D grasping, and Coulomb friction. Next, the principles of grasp planning, measures of grasping quality, pre-grasp, stable grasps, and regrasp planning are presented. The chapter presents comparisons for robotic grippers, a new classification of measures of grasp quality, and a new categorization of regrasp planning approaches.
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Robotic Grippers

A robotic gripper is a type of end-effector that comes into contact with the workpiece and hold or manipulates it. The varieties of robotic grippers can be divided into four main categories: mechanical grippers, vacuum and magnetic grippers, universal grippers, and multi-fingered hands. End-effectors are inspired from either tools with extended capabilities, or human hand and fingers, although there have been some new creations with novel mechanisms. In the following each category is explained in brief (Praveen, 2013).

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