doctoral dissertation, tech. report CMU-RI-TR-13-21, Robotics Institute, Carnegie Mellon University, August, 2013
|Given a desired function for an effector, what is its appropriate shape? This thesis addresses the problem of designing the shape of a rigid end effector to perform a given manipulation task. It presents three main contributions: First, it describes the contact kinematics of an effector as the product of both its shape and its motion, and assumes a xed motion model to explore the role of shape in satisfying a certain manipulation task. Second, it formulates that manipulation task as a set of constraints on the geometry of contact between the effector and the world. Third, it develops tools to transform those contact constraints into an eector shape for general 1-DOF planar mechanisms and general 1-DOF spatial mechanisms, and discusses the generalization to mechanisms with more than one degree of freedom.
We describe the case studies of designing grippers with invariant grasp geometry, grippers with improved grasp stability, and grippers with extended grasp versatility. We further showcase the techniques with the design of the fingers of the MLab hand, a three-fingered gripper actuated with a single motor, capable of exerting any combination of geometrically correct enveloping or fingertip grasps of spherical, cylindrical, and prismatic objects of varying size.
Number of pages: 56
|Alberto Rodriguez, "Shape for Contact," doctoral dissertation, tech. report CMU-RI-TR-13-21, Robotics Institute, Carnegie Mellon University, August, 2013|
author = "Alberto Rodriguez",
title = "Shape for Contact",
booktitle = "",
school = "Robotics Institute, Carnegie Mellon University",
month = "August",
year = "2013",
address= "Pittsburgh, PA",
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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