An Three-fingered Adaptive Gripper for Peg Insertion Tasks

摘要

This research proposes adaptive gripper. A L-shaped finger is used to adjust the initialposition error of pegs by pushing twice without any help of vision/force sensors. Besides, anadaptive finger from Festo company is used for adapting the finger for different 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 gripperwas proved by comparing with a two-finger and a three-finger grippers.