By Topic

Gripper point contacts for part alignment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zhang, M.T. ; Intel Corp., Hillsboro, OR, USA ; Goldberg, K.

The initial resting pose of many industrial parts differs from the orientation desired for assembly. We show that it is possible to align parts during grasping using a standard parallel-jaw gripper. A solution is an arrangement of four gripper point contacts that will align the part in the vertical plane as the jaws close. Given a n-sided polygonal part and k uniformly distributed sample points on each side, we present an O(n4k4) numerical algorithm to compute a set of solutions or a report that no solution exists. The algorithm combines toppling, accessibility, and form-closure analysis. We have implemented the algorithm and report sensitivity data from physical experiments.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 6 )