Shape tolerance for robot gripper jaws
نویسندگان
چکیده
In [19] we specified robot grippers that can orient and grasp parts with an arrangement of trapezoidal jaw modules. Since jaw modules may be imprecisely machined, we define a parametric tolerance class such that part alignment is guaranteed for all jaw geometry in the class. This tolerance class is derived based on analysis of toppling, motion trajectory, and form-closure. Given maximal jaw geometry from the previous algorithm, we describe an O(n) algorithm to compute the parametric tolerance class based on maximal and minimal jaw specifications. We have implemented the algorithm and report results from physical experiments.
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