The paper summarises the work done so far by four University groups involved in a joint project for the development of a medium-complexity robotic gripper, respectively developing the mechanical design (DIEM Bologna), the sensory and control system (DEIS-Bologna), the dynamic simulation (DEI-Milano) and the sensor fusion (DII-Parma). The gripper has been deigned in order to perform low- and medium-complexity space-lab manipulation tasks, aiming to achieve a trade-off between simple twin-jawed grippers and highly sophisticated multidegree-of-freedom hands. It presents a three-finger, three- degree-of-freedom architecture and is capable of synchronous application of the grasping contacts, so that force-closure grasps can be achieved on irregularly shaped objects even floating in micro-gravity conditions. Proximity sensors and intrinsic contact force sensors installed on each finger can allow object shape recognition together with control of approaching and grasping procedures. The capability of being tele-operated is addressed as well as the possibility of accomplishing elementary tasks in autonomous way.
A Dexterous Gripper for Space Robotics / C., Bonivento; C., Melchiorri; G., Vassura; G., Ferretti; C., Maffezzoni; G., Magnani; G., Beccari; Caselli, Stefano; Zanichelli, Francesco. - (1999), pp. 637-642. (Intervento presentato al convegno 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 99) tenutosi a NOORDWIJK, NETHERLANDS nel June 1-3, 1999).
A Dexterous Gripper for Space Robotics
CASELLI, Stefano;ZANICHELLI, Francesco
1999-01-01
Abstract
The paper summarises the work done so far by four University groups involved in a joint project for the development of a medium-complexity robotic gripper, respectively developing the mechanical design (DIEM Bologna), the sensory and control system (DEIS-Bologna), the dynamic simulation (DEI-Milano) and the sensor fusion (DII-Parma). The gripper has been deigned in order to perform low- and medium-complexity space-lab manipulation tasks, aiming to achieve a trade-off between simple twin-jawed grippers and highly sophisticated multidegree-of-freedom hands. It presents a three-finger, three- degree-of-freedom architecture and is capable of synchronous application of the grasping contacts, so that force-closure grasps can be achieved on irregularly shaped objects even floating in micro-gravity conditions. Proximity sensors and intrinsic contact force sensors installed on each finger can allow object shape recognition together with control of approaching and grasping procedures. The capability of being tele-operated is addressed as well as the possibility of accomplishing elementary tasks in autonomous way.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
