Mechanisms and Machine Science

Volume 10

Series Editor

Marco Ceccarelli

For further volumes:http://www.springer.com/series/8779

Giuseppe CarboneEditor

Grasping in Robotics

123

EditorGiuseppe CarboneUniversity of CassinoCassinoItaly

ISSN 2211-0984 ISSN 2211-0992 (electronic)ISBN 978-1-4471-4663-6 ISBN 978-1-4471-4664-3 (eBook)DOI 10.1007/978-1-4471-4664-3Springer London Heidelberg New York Dordrecht

Library of Congress Control Number: 2012952025

� Springer-Verlag London 2013This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part ofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformation storage and retrieval, electronic adaptation, computer software, or by similar or dissimilarmethodology now known or hereafter developed. Exempted from this legal reservation are briefexcerpts in connection with reviews or scholarly analysis or material supplied specifically for thepurpose of being entered and executed on a computer system, for exclusive use by the purchaser of thework. Duplication of this publication or parts thereof is permitted only under the provisions ofthe Copyright Law of the Publisher’s location, in its current version, and permission for use must alwaysbe obtained from Springer. Permissions for use may be obtained through RightsLink at the CopyrightClearance Center. Violations are liable to prosecution under the respective Copyright Law.The use of general descriptive names, registered names, trademarks, service marks, etc. in thispublication does not imply, even in the absence of a specific statement, that such names are exemptfrom the relevant protective laws and regulations and therefore free for general use.While the advice and information in this book are believed to be true and accurate at the date ofpublication, neither the authors nor the editors nor the publisher can accept any legal responsibility forany errors or omissions that may be made. The publisher makes no warranty, express or implied, withrespect to the material contained herein.

Printed on acid-free paper

Springer is part of Springer Science+Business Media (www.springer.com)

Preface

This book is an attempt to address the wide topic of grasping in robotics with amulti-disciplinary approach. Each chapter has been authored by an expert or ateam of experts in a specific area spanning from the mechanics of machinery tocontrol theory, informatics, and mechatronics. Chapters have been divided intofour sections with the aim to give a theoretical and historical background, todiscuss main concepts for mechanical design, to illustrate main issues on controland motion planning for both industrial and non-conventional applications.Applications have been detailed by referring to industrial gripping solutions asproposed with experiences at the company Schunk GmbH, for grasping solutionsin agriculture, micro-gripping solutions in precision assembly processes, andinnovative design solutions such as in fusing grasping features into robot design.

This book project can be foreseen as a reference for young professionals/researchers to overview the most significant aspects in the field of grasping inrobotics. Given the wideness of the topic, this book can be considered as a firstedition and, as Editor, I shall be pleased to consider additional contents/sugges-tions for a future edition.

I wish to acknowledge all the authors for their significant contributions to thisproject. Particularly, I wish to thank Prof. Marco Ceccarelli, who has been also thementor of my academic career. He has strongly stimulated and supported myresearch activities and this book project, since its early beginning. Alsoacknowledged is the professional assistance by the staff of Springer Science +Business Media that have supported this project with their help and advice in thepreparation of the book.

I am grateful to my wife Annalisa, my daughters Mariagrazia, Manuela, and thejust born Camilla. Without their patience and understanding it would not havebeen possible for me to work on this book.

Cassino, July 2012 Giuseppe Carbone

v

Contents

Part I Background

1 Notes for a History of Grasping Devices . . . . . . . . . . . . . . . . . . . 3Marco Ceccarelli

2 Stiffness Analysis for Grasping Tasks . . . . . . . . . . . . . . . . . . . . . 17Giuseppe Carbone

3 Multibody Dynamics Formulation . . . . . . . . . . . . . . . . . . . . . . . . 57Parviz E. Nikravesh

4 Sensors and Methods for the Evaluation of Grasping. . . . . . . . . . 77Antonio Morales, Mario Prats and Javier Felip

Part II Mechanism Design

5 Industrial Grippers: State-of-the-Art and MainDesign Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107Penisi Osvaldo Hugo

6 Robotic Hands and Underactuated Finger Mechanisms . . . . . . . . 133Licheng Wu

7 Finger Orientation for Robotic Hands . . . . . . . . . . . . . . . . . . . . . 159Minzhou Luo

8 Parallel Wrists for Enhancing Grasping Performance . . . . . . . . . 189Massimo Callegari, Luca Carbonari, Giacomo Palmieriand Matteo-Claudio Palpacelli

vii

Part III Control and Motion Planning

9 A Survey on Different Control Techniques for Grasping . . . . . . . 223Balaguer Carlos, Gimenez Antonio, Jardón Alberto, Cabas Ramiroand Martinez de la Casa Santiago

10 Hardware Control System of Robotic Hands . . . . . . . . . . . . . . . . 247Zhan Qiang

11 Visual Servo Control of Robot Grasping . . . . . . . . . . . . . . . . . . . 269Theodor Borangiu

12 Path Planning for Grasping Tasks . . . . . . . . . . . . . . . . . . . . . . . 305João Carlos Mendes Carvalho and Sezimária F. Pereira Saramago

13 Grasp and Motion Planning for Humanoid Robots . . . . . . . . . . . 329Markus Przybylski, Nikolaus Vahrenkamp, Tamim Asfourand Rüdiger Dillmann

Part IV Applications

14 Hardware for Industrial Gripping at SCHUNKGmbH & Co. KG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363Christopher Parlitz

15 Grasping in Agriculture: State-of-the-Artand Main Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385F. Rodríguez, J. C. Moreno, J. A. Sánchez and M. Berenguel

16 Microgrippers and their Influence on High PrecisionAssembly Processes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411A. Raatz and R. J. Ellwood

17 A New Way of Grasping: PARAGRIP—The Fusionof Gripperand Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433Tom Mannheim, Martin Riedel, Mathias Hüsingand Burkhard Corves

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

viii Contents