Designing Fingers in Simulation based on Imprints

Adam Wolniakowski, Norbert Krüger, Andrzej Werner, Lars-Peter Ellekilde, Lukas Christoffer Malte Wiuf Schwartz

Research output: Contribution to conference without publisher/journalPosterResearchpeer-review

Abstract

Gripper design is nowadays an area of ongoing research activity. The problem of creating a generic and automated gripper design approach tailored for a specific task is still far from solved. In this paper, we propose a new method of generating finger cut-outs aimed at simplifying the design process of doing so. This method takes root in the idea of using the imprint to produce the finger geometry. We furthermore provide a verification of our newly introduced imprinting method and a comparison to the previously introduced parametrized geometry method. This verification is done through a set of grasping experiments performed in simulation on two objects with geometry features based on those found in industrial setting.
Original languageEnglish
Publication date27. Jul 2017
Publication statusPublished - 27. Jul 2017
Event7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Madrid, Spain
Duration: 26. Jul 201728. Jul 2017
Conference number: 7
http://www.simultech.org/?y=2017

Conference

Conference7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications
Number7
CountrySpain
CityMadrid
Period26/07/201728/07/2017
Internet address

Cite this

Wolniakowski, A., Krüger, N., Werner, A., Ellekilde, L-P., & Wiuf Schwartz, L. C. M. (2017). Designing Fingers in Simulation based on Imprints. Poster session presented at 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Madrid, Spain.
Wolniakowski, Adam ; Krüger, Norbert ; Werner, Andrzej ; Ellekilde, Lars-Peter ; Wiuf Schwartz, Lukas Christoffer Malte. / Designing Fingers in Simulation based on Imprints. Poster session presented at 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Madrid, Spain.
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title = "Designing Fingers in Simulation based on Imprints",
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author = "Adam Wolniakowski and Norbert Kr{\"u}ger and Andrzej Werner and Lars-Peter Ellekilde and {Wiuf Schwartz}, {Lukas Christoffer Malte}",
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Wolniakowski, A, Krüger, N, Werner, A, Ellekilde, L-P & Wiuf Schwartz, LCM 2017, 'Designing Fingers in Simulation based on Imprints', 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Madrid, Spain, 26/07/2017 - 28/07/2017.

Designing Fingers in Simulation based on Imprints. / Wolniakowski, Adam; Krüger, Norbert; Werner, Andrzej; Ellekilde, Lars-Peter; Wiuf Schwartz, Lukas Christoffer Malte.

2017. Poster session presented at 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Madrid, Spain.

Research output: Contribution to conference without publisher/journalPosterResearchpeer-review

TY - CONF

T1 - Designing Fingers in Simulation based on Imprints

AU - Wolniakowski, Adam

AU - Krüger, Norbert

AU - Werner, Andrzej

AU - Ellekilde, Lars-Peter

AU - Wiuf Schwartz, Lukas Christoffer Malte

PY - 2017/7/27

Y1 - 2017/7/27

N2 - Gripper design is nowadays an area of ongoing research activity. The problem of creating a generic and automated gripper design approach tailored for a specific task is still far from solved. In this paper, we propose a new method of generating finger cut-outs aimed at simplifying the design process of doing so. This method takes root in the idea of using the imprint to produce the finger geometry. We furthermore provide a verification of our newly introduced imprinting method and a comparison to the previously introduced parametrized geometry method. This verification is done through a set of grasping experiments performed in simulation on two objects with geometry features based on those found in industrial setting.

AB - Gripper design is nowadays an area of ongoing research activity. The problem of creating a generic and automated gripper design approach tailored for a specific task is still far from solved. In this paper, we propose a new method of generating finger cut-outs aimed at simplifying the design process of doing so. This method takes root in the idea of using the imprint to produce the finger geometry. We furthermore provide a verification of our newly introduced imprinting method and a comparison to the previously introduced parametrized geometry method. This verification is done through a set of grasping experiments performed in simulation on two objects with geometry features based on those found in industrial setting.

M3 - Poster

ER -

Wolniakowski A, Krüger N, Werner A, Ellekilde L-P, Wiuf Schwartz LCM. Designing Fingers in Simulation based on Imprints. 2017. Poster session presented at 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Madrid, Spain.