Task and context sensitive optimization of gripper design using dynamic grasp simulation

Adam Wolniakowski, Jimmy Alison Jørgensen, Konstantsin Miatliuk, Henrik Gordon Petersen, Norbert Krüger

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a parallel jaw type gripper which we have parametrized in a 11 dimensional space. We furthermore present a parametrization of the grasping task and context, which is essential as input to the computation of gripper performance. We exemplify the feasibility of our approach by computing several optimized grippers on a real world industrial object in three different scenarios.
Original languageEnglish
Title of host publicationProceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
PublisherIEEE
Publication date2015
Pages29-34
ISBN (Electronic)978-1-4799-8700-9
DOIs
Publication statusPublished - 2015
Event20th International Conference on Methods and Models in Automation and Robotics (MMAR) - Miedzyzdroje, Poland
Duration: 24. Aug 201527. Aug 2015
Conference number: 20

Conference

Conference20th International Conference on Methods and Models in Automation and Robotics (MMAR)
Number20
Country/TerritoryPoland
CityMiedzyzdroje
Period24/08/201527/08/2015

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