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.
|Title of host publication||Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR)|
|Publication status||Published - 2015|
|Event||20th International Conference on Methods and Models in Automation and Robotics (MMAR) - Miedzyzdroje, Poland|
Duration: 24. Aug 2015 → 27. Aug 2015
Conference number: 20
|Conference||20th International Conference on Methods and Models in Automation and Robotics (MMAR)|
|Period||24/08/2015 → 27/08/2015|