Picking, Grasping, or Scooping Small Objects Lying on Flat Surfaces: A Design Approach

Grasping in constrained environments is, to this day, an ongoing research topic. Objects can rarely be grasped from arbitrary directions, hence the need to study the options available to grasp them. This paper proposes a gripper capable of grasping small or thin objects that cannot be directly pinch-grasped. The focus is placed on objects that lie on hard surfaces. The proposed approach uses a quasistatic method referred to as scooping while implementing a passive thumb to compensate for manipulator positioning errors. Hence, the robot arm does not need to be moved while the gripper is grasping an object, similarly to a human hand performing a precision grasp. The design approach is presented and the main design choice, namely the use of epicyclic gear trains instead of conventional revolute joints, is presented.
For more information see the article : doi.org/10.117...

[@AiswaryaM739]

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[@thomasoulier]

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