Task-Based Design of a Compliant Hand for Assembly

Using compliance is effective in assembly operations with positioning errors, so that it prevents excessive contact forces and guides a part to its goal. In this paper we present a systematic method to design a compliant hand appropriate to given assembly task. The desired end-point stiffness matrix is decided through the results of quasi-static analysis of contact states. The mechanical structure of a compliant hand is then designed based on the derived stiffness matrix. The validity of the design method is illustrated through an assembly simulation.

Keywords: Assembly, Positioning Error, Contact, Passive Compliance, Robot Hand, Design