A two-phase gripper to reorient and grasp
This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two ph...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Online Access: | http://hdl.handle.net/1721.1/107782 https://orcid.org/0000-0002-9284-503X https://orcid.org/0000-0002-1119-4512 |
| _version_ | 1826201528568905728 |
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| author | Mason, Matthew T. Staab, Harald Rossano, Gregory Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Mason, Matthew T. Staab, Harald Rossano, Gregory Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto |
| author_sort | Mason, Matthew T. |
| collection | MIT |
| description | This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two phases to passively reorient prismatic objects from a horizontal resting pose to an upright secure grasp. This problem is particularly relevant to industrial assembly applications where parts often are presented lying on trays or conveyor belts and need to be assembled vertically. Each two-phase finger is composed of a small hard contact point attached to an elastic strip mounted over a V-groove cavity. When grasped between two parallel fingers with low gripping force, the object pivots about the axis between the contact points on the strips, and aligns upright with gravity. A subsequent increase in the gripping force makes the elastic strips recede into the cavities letting the part seat in the V-grooves to secure the grasp. The design is compatible with any type of parallel-jaw gripper, and can be reconfigured to specific objects by changing the geometry of the cavity. The two-phase gripper provides robots with the capability to accurately position and manipulate parts, reducing the need for dedicated part feeders or time-demanding regrasp procedures. |
| first_indexed | 2024-09-23T11:53:10Z |
| format | Article |
| id | mit-1721.1/107782 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:53:10Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1077822022-10-01T06:43:13Z A two-phase gripper to reorient and grasp Mason, Matthew T. Staab, Harald Rossano, Gregory Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two phases to passively reorient prismatic objects from a horizontal resting pose to an upright secure grasp. This problem is particularly relevant to industrial assembly applications where parts often are presented lying on trays or conveyor belts and need to be assembled vertically. Each two-phase finger is composed of a small hard contact point attached to an elastic strip mounted over a V-groove cavity. When grasped between two parallel fingers with low gripping force, the object pivots about the axis between the contact points on the strips, and aligns upright with gravity. A subsequent increase in the gripping force makes the elastic strips recede into the cavities letting the part seat in the V-grooves to secure the grasp. The design is compatible with any type of parallel-jaw gripper, and can be reconfigured to specific objects by changing the geometry of the cavity. The two-phase gripper provides robots with the capability to accurately position and manipulate parts, reducing the need for dedicated part feeders or time-demanding regrasp procedures. National Science Foundation (U.S.). National Robotics Initiative (NSF-IIS-1427050) 2017-03-30T16:50:24Z 2017-03-30T16:50:24Z 2015-10 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-8183-3 http://hdl.handle.net/1721.1/107782 Chavan-Dafle, Nikhil, Matthew T. Mason, Harald Staab, Gregory Rossano, and Alberto Rodriguez. “A Two-Phase Gripper to Reorient and Grasp.” 2015 IEEE International Conference on Automation Science and Engineering (CASE) (August 2015). https://orcid.org/0000-0002-9284-503X https://orcid.org/0000-0002-1119-4512 en_US http://dx.doi.org/10.1109/CoASE.2015.7294269 2015 IEEE International Conference on Automation Science and Engineering (CASE) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT Web Domain |
| spellingShingle | Mason, Matthew T. Staab, Harald Rossano, Gregory Chavan Dafle, Nikhil Narsingh Rodriguez Garcia, Alberto A two-phase gripper to reorient and grasp |
| title | A two-phase gripper to reorient and grasp |
| title_full | A two-phase gripper to reorient and grasp |
| title_fullStr | A two-phase gripper to reorient and grasp |
| title_full_unstemmed | A two-phase gripper to reorient and grasp |
| title_short | A two-phase gripper to reorient and grasp |
| title_sort | two phase gripper to reorient and grasp |
| url | http://hdl.handle.net/1721.1/107782 https://orcid.org/0000-0002-9284-503X https://orcid.org/0000-0002-1119-4512 |
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