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

Volume

1

fYear

2001

fDate

6/23/1905 12:00:00 AM

Firstpage

207

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Print_ISBN

0-7803-6736-7

Type

conf

DOI

10.1109/AIM.2001.936455

Filename

936455