TY  - JOUR
AB  - The objective is to develop a flexible robot assembly system capable of economically switching between a wide range of product assemblies. Towards this goal, this paper introduces grasping as a principle issue in designing for flexibility in a robot system. The task, sensing, and certainty about actions are the primary factors in grasp decisions and not where to grasp the part. Identifying finger features, which satisfy a broad range of tasks reduces the likelihood of re‐tooling, and improves certainty about part location and relative orientation. Aided by the ability to address a broad range of tasks, design rules are established which assimilate grasps to part design.
VL  - 23
IS  - 1
SN  - 0144-5154
DO  - 10.1108/01445150310460088
UR  - https://doi.org/10.1108/01445150310460088
AU  - Lowe Gordon
AU  - Shirinzadeh Bijan
PY  - 2003
Y1  - 2003/01/01
TI  - Designing for task oriented grasps in robotic assembly
T2  - Assembly Automation
PB  - MCB UP Ltd
SP  - 43
EP  - 52
Y2  - 2024/04/18
ER  -