Grasping Objects: The Relationship Between the Cage and the Form-Closure Grasp

In various industries, there is a need for low-cost, flexible robotic grasping systems that handle and classify different items, which usually involve low-cost grippers and reliable manipulations. One-degree-offreedom (1-DoF) two-pin or three-pin grippers are widely used in the automation of manufacturing processes because of their low cost and high reliability. However, some uncertainties introduced by the object and the gripper may affect the robustness of the grasp. The principle of caging enables us to deal with these uncertainties, and it is therefore important to study caging as a practical solution to improve the grasps of 1-DoF industrial grippers.