An Three-ngered Adaptive Gripper for Peg Insertion Tasks

抄録

This research proposes adaptive gripper. A L-shaped nger is used to adjust the initial position error of pegs by pushing twice without any help of vision/force sensors. Besides, an adaptive nger from Festo company is used for adapting the nger for dierent shaped pegs. The ability of the proposed gripper for adjusting the initial pose error(position and orientation) was explored by simulations and physical experiments. The superiority of the proposed gripper was proved by comparing with a two-nger and a three-nger grippers.