Mechanisms for Robotic Grasping and Manipulation

被引：23
|
作者：
Babin, Vincent [1 ]
Gosselin, Clement [1 ]
机构：
[1] Univ Laval, Dept Mech Engn, Quebec City, PQ G1V 0A6, Canada
来源：
ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 4, 2021 | 2021年 / 4卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
robotic hands; manipulation; intrinsic dexterity; extrinsic dexterity; grasp quality; anthropomorphic grippers; compliant grippers; soft grippers; underactuation; physical interactions; GRIPPER; DESIGN; HAND; HANDSHAKE; CONTACT; SIMULATION;
D O I：
10.1146/annurev-control-061520-010405
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion.
引用
收藏
页码：573 / 593
页数：21
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