Towards grasping in unstructured environments: grasper compliance and configuration optimization
- 1 January 2005
- journal article
- Published by Informa UK Limited in Advanced Robotics
- Vol. 19 (5), 523-543
- https://doi.org/10.1163/156855305323383785
Abstract
This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied in order to maximize successful grasp range and minimize contact forces for a wide range of target object size. Joint rest angles around 25–45 degrees produced near-optimal results if the stiffness of the base joint was much smaller than the intermediate joint, as confirmed experimentally.Keywords
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