Fundamentals of Robotic Grasping and Fixturing (Series on Manufacturing Systems and Technology)

This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students. The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference Contents 8 Preface 6 Chapter 1 Robotic Grasp and Workpiece-Fixture Systems 12 1.1 Introduction 12 1.2 Robotic Manipulation and Multifingered Robotic Hands 12 1.3 AMT and Fixtures 15 1.4 Comparison between Grasping and Fixturing 19 1.5 Bibliography 19 Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing 22 2.1 Introduction 22 2.2 Qualitative Analysis 24 2.2.1 Kinematic Characteristics of Grasping/Fixturing 24 2.2.2 Discriminances of Form-Closure Grasping/Fixturing 27 2.2.3 Minimum Number of Contacts with Frictionless 28 2.3 Quantitative Evaluation 32 2.3.1 Evaluation Criteria 32 2.3.2 Numerical Example 33 2.4 Summary 37 2.5 Bibliography 37 Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing 41 3.1 Introduction 41 3.2 Description of Contacts with Friction 42 3.3 Conditions of Force Closure Grasp 44 3.4 Grasp Stability Index 45 3.4.1 Definition of the Grasp Stability Index 45 3.4.2 Some Properties of the Index 47 3.4.3 Contact Configuration Planning 49 3.5 Examples 50 3.6 Summary 54 3.7 Bibliography 54 Chapter 4 Active Grasp Force Planning 56 4.1 Introduction 56 4.2 Nonlinear Programming in Grasp 58 4.3 Force Planning Using Neural Networks 60 4.4 Simulation 69 4.5 Summary 72 4.6 Bibliography 72 Chapter 5 Grasp Capability Analysis 75 5.1 Introduction 75 5.2 Evaluation of Multifingered Grasp Capability 77 5.3 Numerical Example 79 5.4 Summary 87 5.5 Bibliography 87 Chapter 6 Compliant Grasping with Passive Forces 90 6.1 Introduction 90 6.2 The Model of Compliant Grasping/Fixturing 93 6.3 Local Elastic Contact Model 96 6.4 Deformation Compatible Constraints for All Contacts 99 6.5 Stability of Grasping/Fixturing Systems 100 6.6 Passive Force Closure Prediction 104 6.7 Numerical Example 108 6.8 Summary 112 6.9 Bibliography 113 Chapter 7 Kinematics of Contacts and Rolling Manipulation 116 7.1 Introduction 116 7.2 Kinematics of Pure Rolling Contact 117 7.3 Kinematics of Manipulation with Rolling Contact 124 7.4 Coordinating Manipulation of Multifingered Robotic Hands 127 7.4.1 Classification of Grasp Phases 127 7.4.2 Coordinating Manipulation Strategy 127 7.5 Adjustment of Fingertip Contact Forces 128 7.6 Experimental Results 134 7.7 Summary 136 7.8 Bibliography 137 Chapter 8 Dynamic Stability of Grasping/Fixturing 140 8.1 Introduction 141 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object 141 8.3 Dynamic Stability Conditions and Quality Measure 146 8.4 Summary 153 8.5 Bibliography 154 Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures 156 9.1 Introduction 157 9.2 Error Mapping Model 161 9.2.1 Fully Constrained Localization 165 9.2.2 Over Constrained Localization 165 9.2.3 Under Constrained Localization 165 9.3 Locator and Clamp Configuration Characteristics 170 9.3.1 Locator Configuration Characteristics 170 9.3.2 Clamp Configuration Characteristics 170 9.4 Evaluation Indexes of Fixturing 177 9.4.1 Evaluation Index of Locator Configurations 177 9.4.2 Stability Index of Fixturing 179 9.4.3 Fixturing Resultant Index 180 9.5 Configuration Planning of Fixturing 180 9.5.1 Constraints 180 9.5.2 Planning Methods 182 9.6 Summary 191 9.7 Bibliography 192 Chapter 10 Clamping Planning in Workpiece-Fixture Systems 196 10.1 Introduction 196 10.2 Planning of Magnitudes and Positions of Clamping Forces 199 10.2.1 Objective Function 199 10.2.2 Kinematic Conditions 200 10.2.3 Solution of Optimal Clamping Forces 202 10.3 Verification of Force Constraints 204 10.4 Numerical Example 206 10.5 Summary 220 10.6 Bibliography 221 Index 226