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Biagiotti L , Melchiorri C., Vassura G.
"Control of a Robotic Gripper for Grasping Objects in No-Gravity Conditions"
 
Type Conference
Author(s) Biagiotti L , Melchiorri C., Vassura G.
Title Control of a Robotic Gripper for Grasping Objects in No-Gravity Conditions
Editor IEEE Int. Conf. on Robotics and Automation, ICRA '01
Keywords Space Robotics, Robust Grasp, Floating Objects, Proximity Sensors, Force sensors.
Abstract
In space applications, it is conceivable that part of the robotic activities could involve the grasp and/or manipulation of free-floating objects in absence of gravity. In this case, synchronous application of contacts seems to represent a basic feature in order to efficiently grasp the floating items. In this sense, an additional difficulty is that objects may have irregular shape and/or be non well positioned in the gripper workspace. These difficulties cannot be handled in a simple way with standard 2-jaw grippers, with one (or two) degrees of freedom. In this paper, an activity for designing and experimenting a gripper for this type of operations is reported, and the first laboratory results are presented and discussed. Main features of the gripper are its kinematic configuration (3 fingers with 3 dof) and its sensorial equipment, features that improve the dexterity of this device if compared to more classical devices.
Document 6777.Document.pdf (304426 bytes)
Year 2001


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