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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 1, issue 1
Mech. Sci., 1, 33-42, 2010
https://doi.org/10.5194/ms-1-33-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 1, 33-42, 2010
https://doi.org/10.5194/ms-1-33-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

  22 Dec 2010

22 Dec 2010

Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

M. Riedel, M. Nefzi, and B. Corves M. Riedel et al.
  • Department of Mechanism Theory and Dynamics of Machines (IGM), RWTH Aachen University, Aachen, Germany

Abstract. In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping). This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

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