An analysis of grasp quality measures for the application of sheet metal parts grasping

Acquiring a qualitative force-closure grasp requires the determination of feasible contact points on the object based on a defined criterion. The determination must be fast in order to implement feasible synthesis algorithms. Moreover, grasping of sheet metal parts has further requirements derived from its geometry and clamping tools. This paper presents a grasp quality analysis for the application of sheet metal parts. Moreover, a novel grasp quality measure approach is proposed based on standard deviation computation of the contact’s coordinates. The proposed measure is frame invariant, simple to implement, and has low computational complexity. A comparative analysis over other measures is presented. Further, a stress analysis was performed to show that the proposed criterion yields low stress on the sheet metal part compared to other criteria. Simulations show advantage to grasp synthesis with the proposed quality measure.