Versatile Passive Grasping for Manipulation

Abstract

As a robot's tasks become increasingly diverse, an end-effector's ability to grasp the widest possible range of object shapes and sizes will be paramount. In previous work, we demonstrated the potential of our patented self-sealing suction cup technology to expand upon the traditional grasping techniques. In this paper, we improve upon the original design by making it smaller and more robust, develop a new compact, SMA-actuated three-finger hand utilizing these cups, and introduce a release system. We then characterize the cup performance showing a self-seal quality, leak rate, object seal and reseal quality, life cycle performance, normal force-displacement response, and shear force response. Finally, we characterize the hand performance showing a range of motion, force, and grasp and release of several objects using the new three-finger hand attached to a PA-10 robot manipulator.