Towards grasping in unstructured environments: grasper compliance and configuration optimization

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

• Type: Journal
• Year: 2005
• Where: AR
• Authors: Aaron M. Dollar, Robert D. Howe
• Keywords: AR 2005, Joint, Kinematic Configuration, Two-link Planar Fingers