Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects

Jiang, Rebecca H.; Doshi, Neel; Gondhalekar, Ravi; Rodriguez, Alberto

doi:10.1109/iros55552.2023.10342241

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

DOI: 10.1109/iros55552.2023.10342241

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Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects

Rebecca H. Jiang,

Neel Doshi,

Ravi Gondhalekar

et al.

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2024

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Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

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As the industry shifts to automated manufacturing and the assembly of parts in smaller batches, there is a clear need for an efficient design of grippers. This paper presents a method for automated grasp planning and finger design for multiple parts using four grasp quality measures that capture the following important requirements for grasping: (i) uniform contact force distribution; (ii) better gravity wrench resistance; (iii) robustness against gripper positioning error; and (iv) ability to resist larger external wrench on the object. We introduce the fingertip score to quantify the grasp performance of a fingertip design over all the objects. The method takes the CAD model of the objects as the input and outputs the optimal grasp location and the best finger design. We use the method for a three-point grasp with a parallel jaw gripper. We validate our method on two sets of objects. Results show how each grasp quality measure behaves on different objects and the variation in the fingertip score with finger design. Finally, we test the effectiveness of the optimal finger design experimentally. The three-point grasp is suitable for grasping objects larger than is possible with shape-matching fingertips.

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Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Hota,

Liu,

Decraemer

et al. 2024

Robotics

View full text Add to dashboard Cite

show abstract

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Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects

Cited by 1 publication

References 31 publications

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures

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