南方科技大学知识苑(SUSTech KC): A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects

题名	A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects
作者	Kun Zhang 1; Yuanhang Yang2 ; Zhiming Chen 1; Hua Chen2 ; Michael Yu Wang 3; Wei Zhang2
DOI	10.1109/CASE56687.2023.10260468
发表日期	2023
ISSN	2161-8070
ISBN	979-8-3503-2070-1
会议录名称	2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
卷号	2023-August
页码	1-6
会议日期	26-30 Aug. 2023
会议地点	Auckland, New Zealand
摘要	Cloth-like items are ubiquitous in both daily life and industrial production, but their softness makes them difficult to manipulate. This paper focuses on solving the problem of automatic manipulation especially in the scenario of flat surface by introducing a novel end-effector mechanism. The gripper utilizes a modular design concept, enabling it to be reconstructed with a varying number of fingers based on specific requirements. One of the fingers has an active rolling fingertip that rolls up the object from the table to create wrinkles, for easier grasping. Additionally, there are fingertips with revolute joints that enable fine-tuning of the grasp configuration to fix the objects. To test the effectiveness of the mechanism, we manufactured a real gripper device and mounted it on a collaborative robotic arm for grasping tests. Experiments were conducted on six kinds of cloth-like objects with different materials, grasping them from above. The experimental results show that the gripper with this mechanism configuration performs well in this scenario.
关键词	Performance evaluation Surface reconstruction Computer aided software engineering Automation Fingers Collaboration Grasping
学校署名	其他
相关链接	[IEEE记录]
收录类别	EI
EI入藏号	20234314929213
EI分类号	Robotics:731.5
来源库	IEEE
全文链接	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10260468
引用统计
成果类型	会议论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/582696
专题	工学院_系统设计与智能制造学院
作者单位	1.Robotics Institute, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong 2.School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China 3.HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen, China
推荐引用方式 GB/T 7714	Kun Zhang,Yuanhang Yang,Zhiming Chen,et al. A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects[C],2023:1-6.