Shape for Contact

Alberto Rodriguez
doctoral dissertation, tech. report CMU-RI-TR-13-21, Robotics Institute, Carnegie Mellon University, August, 2013


Download
  • Adobe portable document format (pdf) (23MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Given a desired function for an e ffector, what is its appropriate shape? This thesis addresses the problem of designing the shape of a rigid end e ffector to perform a given manipulation task. It presents three main contributions: First, it describes the contact kinematics of an eff ector 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 eff ector and the world. Third, it develops tools to transform those contact constraints into an e ector 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 fi ngers 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.

Notes
Number of pages: 56

Text Reference
Alberto Rodriguez, "Shape for Contact," doctoral dissertation, tech. report CMU-RI-TR-13-21, Robotics Institute, Carnegie Mellon University, August, 2013

BibTeX Reference
@phdthesis{Rodriguez_2013_7470,
   author = "Alberto Rodriguez",
   title = "Shape for Contact",
   booktitle = "",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "2013",
   number= "CMU-RI-TR-13-21",
   address= "Pittsburgh, PA",
}