Towards grasping in unstructured environments: grasper compliance and configuration optimization

被引：86

作者：

Dollar, AM ^{[1
]}

Howe, RD ^{[1
]}

机构：

[1] Harvard Univ, Sch Med, Div Engn & Appl Sci, Cambridge, MA 02138 USA

来源：

ADVANCED ROBOTICS | 2005年 / 19卷 / 05期

关键词：

grasping; compliance; unstructured environments; mechanism design;

D O I：

10.1163/156855305323383785

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：523 / 543

页数：21

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