Study on Grasping and Installation of a Round Belt by Versatile Robotic Hand with Parallel Stick Fingers

Abstract

In a versatile robotic assembly system in manufacturing, robots need to handle various parts, including flexible parts such as round belts and cables. In this paper, we present a method for grasping a round belt and installing it onto a pulley using a versatile robotic hand with telescopic parallel stick fingers. Targeting the round belt installation of a belt drive unit designed for the World Robot Summit 2018, we experimentally validate the feasibility of achieving the desired tasks with the proposed method.