Multi-level Speed Planning Based Capturing Strategy of Simultaneous Three-fingered End-effectors

This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional and angular misalignments, compensated by the contact information. Minimum Pre-Contact Distance (MPCD), included angle of axes (IAA) and contact force are chosen as strategy parameters and identified from the capturing status. At last, simulations verify that the proposed capturing strategy has many advantages in implementing soft capture.