Towards grasping in unstructured environments: optimization of grasper compliance and configuration

Abstract

This paper examines the role of grasper compliance and kinematic configuration in unstructured environments, where object size and location may not be well known. A grasper consisting of two two-link planar fingers with compliant revolute joints was simulated as it passively deflects during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied in order to maximize grasper workspace for a wide range of target object size. The results show a near-optimal result around the spring-rest angles of 25 and 45 degrees for the base and intermediate joints, respectively, when the joint stiffness ratio (base/intermediate) was small.