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Authors: Lukas Christoffer Malte Wiuf Schwartz 1 ; Adam Wolniakowski 2 ; Andrzej Werner 2 ; Lars-Peter Ellekilde 1 and Norbert Krüger 1

Affiliations: 1 University of Southern Denmark, Denmark ; 2 Białystok University of Technology, Poland

Keyword(s): Simulation, Gripper Design, Optimization, Grasping.

Related Ontology Subjects/Areas/Topics: Application Domains ; Domain-Specific Tools ; Industrial Processes ; Laboratory Simulation Software ; Performance Analysis ; Robotics, Automation and Mechatronics ; Simulation and Modeling ; Simulation Tools and Platforms

Abstract: Gripper design is nowadays an area of ongoing research activity. The problem of creating a generic and automated gripper design approach tailored for a specific task is still far from solved. In this paper, we propose a new method of generating finger cut-outs aimed at simplifying the design process of doing so. This method takes root in the idea of using the imprint to produce the finger geometry. We furthermore provide a verification of our newly introduced imprinting method and a comparison to the previously introduced parametrized geometry method. This verification is done through a set of grasping experiments performed in simulation on two objects with geometry features based on those found in industrial setting.

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Paper citation in several formats:
Schwartz, L.; Wolniakowski, A.; Werner, A.; Ellekilde, L. and Krüger, N. (2017). Designing Fingers in Simulation based on Imprints. In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH; ISBN 978-989-758-265-3; ISSN 2184-2841, SciTePress, pages 304-313. DOI: 10.5220/0006441003040313

@conference{simultech17,
author={Lukas Christoffer Malte Wiuf Schwartz. and Adam Wolniakowski. and Andrzej Werner. and Lars{-}Peter Ellekilde. and Norbert Krüger.},
title={Designing Fingers in Simulation based on Imprints},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH},
year={2017},
pages={304-313},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006441003040313},
isbn={978-989-758-265-3},
issn={2184-2841},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH
TI - Designing Fingers in Simulation based on Imprints
SN - 978-989-758-265-3
IS - 2184-2841
AU - Schwartz, L.
AU - Wolniakowski, A.
AU - Werner, A.
AU - Ellekilde, L.
AU - Krüger, N.
PY - 2017
SP - 304
EP - 313
DO - 10.5220/0006441003040313
PB - SciTePress

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