A Methodology for early design specifications of robotic grippers. - CEA - Commissariat à l’énergie atomique et aux énergies alternatives Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

A Methodology for early design specifications of robotic grippers.

Résumé

The objective of this article is to present a comprehensive task analysis methodology that can provide guidelines for the design of dexterous robotic grippers. This methodology combines a human-centered gesture analysis and an object-centered grasp stability analysis. The former relies on a careful examination of a human operator’s hands gestures while performing a specific process, providing designers with tools that help specifying the number of fingers, the number of degrees of freedom, and the placement of tactile sensors. The latter exploits a grasp quality metric to compute the efforts required to handle the involved objects, providing guidelines for the specification of the actuation system. This approach is exemplified by defining technical specifications for the design of a multi-fingered robotic gripper intended to perform the tasks involved in a sterility testing process.
Fichier principal
Vignette du fichier
AIM23_0174_FI_NoteIEEE.pdf (4.08 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

cea-04492985 , version 1 (06-03-2024)

Identifiants

Citer

Jonatan Escorcia, Mathieu Grossard, Florian Gosselin. A Methodology for early design specifications of robotic grippers.. IEEE/ASME International conference on Advanced Intelligent Mechatronics (AIM), Jun 2023, Seattle, United States. pp.616-622, ⟨10.1109/AIM46323.2023.10196258⟩. ⟨cea-04492985⟩
13 Consultations
11 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More