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Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms

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Babin, Vincent, St-Onge, David et Gosselin, Clément. 2019. « Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms ». Robotics and Computer-Integrated Manufacturing, vol. 55, nº Part A. pp. 1-10.
Compte des citations dans Scopus : 4.

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St-Onge D 2018 18899.pdf - Accepted Version
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Abstract

The stable and repeatable grasping of objects lying on a flat hard surface is addressed in this paper. A physical model of an object lying on a flat surface and its interaction with the environment and with a gripper is proposed. The important parameters governing the interaction are obtained. From this model, a grasping procedure is established and a robotic gripper is modified in order to grant the ability to pick up large thin objects lying on smooth hard surfaces. The procedure is implemented to demonstrate its repeatability on a chosen set of objects. It is shown that by sensing the force applied on the object and by taking advantage of the nature of the contact provided by the passive joint of the modified finger, a wide range of previously not directly graspable objects are made graspable via the application of a general approach. The experimental results reported clearly show the benefits of the simple force sensing implemented in the gripper as well as of the use of passive joints when interacting with very stiff environments. The proposed approach, while simple, yields a repeatable solution to a complex manipulation problem.

Item Type: Peer reviewed article published in a journal
Professor:
Professor
St-Onge, David
Affiliation: Autres
Date Deposited: 03 Jul 2019 21:38
Last Modified: 18 Sep 2019 19:15
URI: https://espace2.etsmtl.ca/id/eprint/18899

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