Positioning and recognizing planar parts using a two-fingered gripper with four pins

Summary form only given as follows. Errors during part mating are the main failures source in automatic assembly task. This paper presents a gripper, which can position and sort polygonal objects by one grasp with the help of sensors. It is simple in structure with two parallel jaws equipped with two pins. Each pin ends with a rolling bearing in order to reduce the friction component along the jaw. This gripper removes all three uncertainties of a planar part. It is very versatile and rational in design, with a high contact strength. Acquiring more features, it is more powerful in part recognition when equipped with simple sensors. The exact part pose in the gripper can be computed, by a single grasp, using simple sinusoidal functions. The gripper can construct grasps with form-closure and force-closure. Orientation, squeeze and projection functions have been introduced and used for recognizing planar parts and their pose.