Abstract:Efficiently grasping and releasing objects using robotic grippers is an essential step in robotic assembly. This paper presents a low-cost four-finger adaptive gripper capable of performing stable and reliable grasping operations on irregularly shaped objects. Unlike other grasping systems in the fixture-to-fixture robotic assembly, the assembly process using the proposed gripper does not rely on any vision systems or force/torque sensors. Specifically, assuming that the relative position Λ between the two fix… Show more
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