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Grasp Evaluation Method For Applying Static Loads Leading To Beam Failure, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.

Electrical and Computer Engineering Publications

This paper deals with the problem of purposefully failing or yielding an object by a robotic gripper. We propose a grasp quality measure fabricated for robotic harvesting in which picking a crop from its stem is desired. The proposed metric characterizes a suitable grasp configuration for systematically controlling the failure behavior of an object to break it at the desired location while avoiding damage on other areas. Our approach is based on failure task information and gripper wrench insertion capability. Failure task definition is accomplished using failure theories. Gripper wrench insertion capability is formulated by modeling the friction between the …