Designing Fingers in Simulation based on Imprints

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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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
Title of host publicationProceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications
PublisherSCITEPRESS Digital Library
Publication date2017
Pages304-313
ISBN (Electronic) 978-989-758-265-3
DOIs
Publication statusPublished - 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

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