A packing problem approach to grasping with a two-finger gripper with application in forest harvesting

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dc.contributor.authorCaicedo, Yesid A.
dc.contributor.authorChiang, Luciano E.
dc.date.accessioned2025-01-20T17:06:05Z
dc.date.available2025-01-20T17:06:05Z
dc.date.issued2024
dc.description.abstractRobotic Hand Grasping is a challenging task that is studied by different researchers, with contributions made to topics such as grasping quality measuring, synthesis, and mathematical models. However, these works usually consider grasping of only one object at time, which is not applicable when the hand must carry multiple objects. Multiple objects grasping problem can be approached as a packing problem, which consists in filling a container with objects of a determined geometry, using the space available in the most efficient way. The aim of this work is to obtain a design methodology for a two-finger gripper that optimizes the grasping capacity of slender cylindrical multiple objects, applying packing problem concepts. This case is of practical importance in grapple claws used in forest harvesting for picking logs. A mathematical model is presented that allows to obtain an optimized geometric configuration of the grapple claw for maximum grasping capacity and packing density for given numbers and sizes of logs. This model is analytically solved for the maximum radius of a set of logs that can be grasped. Alternatively, for a number of logs with a given diameter, the geometric dimensions of an optimized grapple claw can be obtained. The solutions are evaluated using packing density and Active Force Closure (AFC) as quality metrics, to show the benefits of adding them as design criteria in the design multiple objects grapple claws.
dc.fuente.origenWOS
dc.identifier.doi10.1080/15397734.2024.2339527
dc.identifier.eissn1539-7742
dc.identifier.issn1539-7734
dc.identifier.urihttps://doi.org/10.1080/15397734.2024.2339527
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/90751
dc.identifier.wosidWOS:001205235100001
dc.language.isoen
dc.revistaMechanics based design of structures and machines
dc.rightsacceso restringido
dc.subjectMachine control
dc.subjectarches
dc.subjectmembranes
dc.subjectshells
dc.subjectcables
dc.subjectkinematic synthesis
dc.subjectoptimization
dc.subjectrobotics
dc.titleA packing problem approach to grasping with a two-finger gripper with application in forest harvesting
dc.typeartículo
sipa.indexWOS
sipa.trazabilidadWOS;2025-01-12
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