Finger design automation for industrial robot grippers: A review <s> Modular Designs <s> This paper reports a rule based approach to the gripper selection problem in assembly cells. We deal with gripper's morphology, fingertip and actuation. The goal of the project is to develop a set of rules, based on the formalization of the gripper-selection expert's know-how and reasoning methods. Once the rules are achieved, we point out which parameters, concerning the part handled and process needed, are to be known to correctly choose a gripper. <s> BIB001 </s> Finger design automation for industrial robot grippers: A review <s> Modular Designs <s> Until now, many design and manufacturing tasks have only seen partial computerization. One such task is that of assembly planning. This paper presents a system for use in a subarea of assembly planning, the configuration of grippers for robotic assembly. The system is fully automated and thus represents a departure from current practice. The paper gives an example of the application of the system to simple gripper design problems. <s> BIB002 </s> Finger design automation for industrial robot grippers: A review <s> Modular Designs <s> This paper introduces a new modular approach to robotic grasping that allows for finding a trade off between a simple gripper and more complex human like manipulators. The modular approach to robotic grasping aims to understand human grasping behavior in order to replicate grasping and skilled in-hand movements with an artificial hand using simple, robust, and flexible modules. In this work, the design of modular grasping devices capable of adapting to different requirements and situations is investigated. A novel algorithm that determines effective modular configurations to get efficient grasps of given objects is presented. The resulting modular configurations are able to perform effective grasps that a human would consider “stable”. Related simulations were carried out to validate the efficiency of the algorithm. Preliminary results show the versatility of the modular approach in designing grippers. <s> BIB003
In most modular design approaches BIB001 BIB002 , the shape of the workpiece is initially simplified to basic geometries (e.g. cylinder, sphere, cube, etc.) and then, from a finger library, suitable pairs of fingers are selected to grasp the workpiece BIB002 . However, BIB003 introduce a different technique. They propose a modular finger design to find a trade-off between a simple gripper and complex human like hands. Their work focuses on a modular grasping device that adapts itself to the characteristics of the workpiece. They use a one DoF mechanism as the basic element for the modular fingers of the gripper. An iterative procedure is proposed to obtain the minimum amount of possible modules that are required to execute the task requirement. The designed gripper can potentially have multi fingers, similar to a human hand. Pros: The proposed algorithms are general and flexible so that they can be utilized for designing griper fingers regardless of the workpiece shape complexity.