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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
