Title :
Design algorithm for automated dynamic grasping of live birds
Author :
Lee, Kok-Meng ; Yin, Xuecheng
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
6/23/1905 12:00:00 AM
Abstract :
Presents a method for designing a dynamic grasper for handling natural objects (such as live birds) for subsequent processing. The dynamic grasper uses flexible fingers to accommodate a limited range of varying sizes, shapes, and some motion due to the live object´s natural reaction to mechanical grasping. As compared to fingers with multiple active joints, flexible fingers have many potential advantages, because they are lightweight and they have no relative individual moving parts in each of the fingers. The advantages of flexible fingers are seldom exploited for grasping, however, because of complicated analysis involved in their design. For this reason, we present an analytical method for designing a dynamic grasper for handling natural objects on a moving conveyor
Keywords :
CAD; dexterous manipulators; digital simulation; manipulator kinematics; matrix algebra; automated dynamic grasping; design algorithm; dexterous manipulators; flexible fingers; live birds; mechanical grasping; moving conveyor; natural objects; Algorithm design and analysis; Automation; Birds; Design methodology; Equations; Fingers; Heuristic algorithms; Rubber; Shape; Transient response;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936455
