Optimization of grasping forces in handling of brittle objects

Authors:
B. Barkat;S. Zeghloul;J. P. Gazeau
Affiliations:
Laboratoire de Recherche en Productique (LRP), Département de mécanique, Faculté des sciences de l'ingénieur, Université El-Hadj Lakhdar Batna, 1, rue Chahid Boukhlouf Moh ...;Laboratoire de Mécanique des solides (LMS), Unité mixte de recherche 6610 CNRS Faculté des sciences SPEMI-Téléport 2 Bd Marie & pièèrre Curie BP 30179, Futurosco ...;Laboratoire de Mécanique des solides (LMS), Unité mixte de recherche 6610 CNRS Faculté des sciences SPEMI-Téléport 2 Bd Marie & pièèrre Curie BP 30179, Futurosco ...
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

This paper deals with the optimization of grasping brittle objects with a multi-fingered robot hand under general constraints such as finger deformability and object positioning tolerances. First, a general formulation describing hyperstatic grasping is presented. Then an optimization criterion based on the minimization of squeezing forces and torques is introduced. And finally results of numerical simulation for grasping with a special three-fingered gripper are presented.