| Abstract: | In this article we present an algorithmic approach to determine the suitable grasp of an object in an automated assembly environment. The algorithm is based on the available object surfaces and the initial and final task constraints and gripper characteristics. If the imposed task and gripper constraints do not allow a possible grasp, intermediate motions may need to be made to reorient the part. Once a set of possible grasps which statisfy task and gripper constraints are found, the stability of each grasp is analyzed using screw theory. An optimal grasp is one which minimizes the grasping forces over the possible set of grasps. Results utilizing our methodology are presented. Our method can be interfaced with CAD database such as a solid modelling system based on boundary representation for automatic selection of grasping configurations. |
