Fundamental Study on the Feasibility of Alignment of Parts for 2nd-order Form Closure Grasps by Two Circular Fingers

Abstract

In robotic assembly, robotic hands need to grasp parts accurately for achieving assembly tasks. Self-alignment of parts by utilizing form closure grasps is one solution. Depending on hand mechanisms or part shapes, the target grasps may be 2nd-order form closure grasps. However, the feasibility of alignment toward 2nd-order form closure grasps is hardly ever studied. Assuming alignment of parts by a robotic hand with two circular fingers, in this paper, we theoretically and experimentally study the feasibility of such alignment of two-dimensional parts considering the generality of part shapes.