Towards Safely Grasping Group Objects by Hybrid Robot Hand
Van Pho Nguyen, Trong Hieu Bui, Van Anh Ho
Abstract
Stable grasping group objects by a robot hand has been emergent recently. To accomplish this challenge, preventing slippage between the object-object and the object-robot hand during grasping is a key problem. This paper proposed a novel approach in design robot hand for achieving good performance in grasping multiple objects. In this scenario, such robot hand included hybrid fingers, which were positioned on two opposite sides as a comb, had soft pads on the grasping interfaces. To validate the grasping ability, we designed another soft robot hand having soft Pneunet fingers and conducted experiments for comparing its performance with the hybrid robot hand’s performance. The experimental results showed that the hybrid robot hand achieved more stable grasp and a higher number of successfully grasped objects than that of the soft case. The obtained results showed agreement with the theoretical model. The potential of the hybrid gripper in manipulating group objects is promising wider robotic applications in the industrial production line.