Designing Fingers in Simulation based on Imprints

Lukas Christoffer Malte Wiuf Schwartz, Adam Wolniakowski, Andrzej Werner, Lars-Peter Ellekilde, Norbert Krüger

Abstract

Gripper design is nowadays an area of ongoing research activity. The problem of creating a generic and automated gripper design approach tailored for a specific task is still far from solved. In this paper, we propose a new method of generating finger cut-outs aimed at simplifying the design process of doing so. This method takes root in the idea of using the imprint to produce the finger geometry. We furthermore provide a verification of our newly introduced imprinting method and a comparison to the previously introduced parametrized geometry method. This verification is done through a set of grasping experiments performed in simulation on two objects with geometry features based on those found in industrial setting.

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Paper Citation


in Harvard Style

Schwartz L., Wolniakowski A., Werner A., Ellekilde L. and Krüger N. (2017). Designing Fingers in Simulation based on Imprints . In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-265-3, pages 304-313. DOI: 10.5220/0006441003040313


in Bibtex Style

@conference{simultech17,
author={Lukas Christoffer Malte Wiuf Schwartz and Adam Wolniakowski and Andrzej Werner and Lars-Peter Ellekilde and Norbert Krüger},
title={Designing Fingers in Simulation based on Imprints},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2017},
pages={304-313},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006441003040313},
isbn={978-989-758-265-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Designing Fingers in Simulation based on Imprints
SN - 978-989-758-265-3
AU - Schwartz L.
AU - Wolniakowski A.
AU - Werner A.
AU - Ellekilde L.
AU - Krüger N.
PY - 2017
SP - 304
EP - 313
DO - 10.5220/0006441003040313