Determining a static robot grasp for automated assembly

Abstract

This paper presents an algorithm which may be used to determine a static grasp for an "n" fingered robot hand. A static grasp is one in which the object being manipulated does not move with respect to the gripper throughout the entire operation. The following grasping algorithm is used during the program generation stage of the assembly process. It is based on the available object surfaces at each stage of manipulation, on the gripper characteristics, and on the assembly task to be performed. An example is solved in detail to illustrate the procedure of this algorithm.