This paper proposes a new method for grasping an object positioned in a cluttered workspace. The grasping of an object usually relies on the analysis of its contour in order to determine the contact points for the ngers of the gripper. The planning of the positioning of the real gripper in the workspace at the chosen points is often considered as a separate problem. The method proposed in this ...

The adhesion between a micro/nano-object and a microgripper end-effector is an important problem in micromanipulation. Canceling or reducing this force is a great challenge. This force is directly linked to the surface chemical structure of the object and the gripper. We propose to predict this force between a structuring surface and a micro-object with a multisphere van der Waals force model. ...

With direct laser writing micro structures can be manufactured by solidifying a photo resist when the beam triggers photochemical reaction in focal voxel. We have used to fabricate thermally actuated microgripper, which move its two cantilever like arms grip micro-objects. One consists thereby of strips with different coefficients thermal expansion such that both cantilevers bends towards each ...

This paper discusses the design and modeling fundamentals of a multi-degree-of-freedom reconfigurable robotic gripper system (RGS), designed to automate the process of limp material handling, reliably and without distortion, deformation, and/or folding. The reconfigurable gripper design draws upon the authors' previously reported flat surfaced, fixed-dimensions gripper system [1]. The design co...

While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without occlusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmit-tance are a...

In advanced robotics applications, as those foreseen in space, some degree of dexterity and autonomy is necessary in order to safely and successfully execute tasks in unstructured environments. For this purpose, besides the kinematic configuration of the device other basic issues are the sensorial equipment and proper control strategies. This paper presents an experimental activity for the vali...

Parallel manipulators have a specific mechanical architecture where all the links are connected both at the base and at the gripper of the robot. By changing the lengths of these links we are able to control the position 1 of the gripper. In general for a given set of links lengths there is only one position for the gripper. But it may be suspected that in some In this paper position means posi...

The vacuum cup grippers operate using Bernoulli Principle for generating high-speed flow between the vacuum cup and product surface thereby creating vacuum which lifted the product. Feasibility observations are studied to demonstrate and obtain an overall understanding on the capability and limitations of the vacuum cup gripper. Most of the robot grippers are not easily applicable due to the fo...