Compensatory Grasping with the Parallel Jaw Gripper

For many industrial parts, their natural resting pose differs from the orientation desired for assembly. We have found that it is possible in many cases to compensate for this difference using a parallel-jaw gripper with fixed orientation. The idea is to arrange contact points on each gripper jaw so that the part is reoriented as it is grasped. We analyze the mechanics of compensatory grasping based on a combination of toppling, jamming, accessibility, and form closure and describe an algorithm for the design of such grasps based on the constrained toppling graph.

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