Grasping analysis for a biped climbing robot

Author

Jiang, Li ; Guan, Yisheng ; Zhou, Xuefeng ; Zhang, Xianmin ; Zhang, Hong

Author_Institution

Biomimetic & Intell. Robot. Lab. (BIRL), South China Univ. of Technol., Guangzhou, China

fYear

2010

fDate

14-18 Dec. 2010

Firstpage

579

Lastpage

584

Abstract

A novel biped robot that can climb poles, trusses and trees for high-rise missions has been recently developed. Consisting of an arm as the main body and two grippers mounted at the two ends as the end-effectors, the robot has both climbing function and manipulating function. One key issue with the robot is that its gripper must grasp the object firmly to support the whole robot when it performs climbing or manipulating task. In this paper, grasping analysis with the grippers is presented. The force-closure property of the grasping is first analyzed, the mechanics model is then built, and the effects of the geometric and physic parameters of gripper fingers to the grasping is analyzed. Experimental tests and computational results are provided to improve the gripper for better grasping.

Keywords

dexterous manipulators; end effectors; grippers; legged locomotion; biped climbing robot; climbing function; end effector; force closure property; grasping analysis; gripper finger; manipulating function; Climbing robots; Force; Grasping; Grippers; Joints; Mathematical model;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-9319-7

Type

conf

DOI

10.1109/ROBIO.2010.5723390

Filename

5723390