Effect of approach orientation on the graspable region

Characterize how changes in approach orientation affect the location of the high-success grasp region of the support-enhanced granular-jamming gripper for a continuum manipulator.

Background

The paper shows that the gripper does not provide a uniform, isotropic position-tolerance region. Instead, successful grasping depends on the joint enclosure formed by the membrane, granular particles, internal support rod, object, and table. In the tested configuration, the support rod has an approximately 30°–40° downward inclination, which shifts the high-success region away from the geometric center of the gripper.

Because the location of this region depends on the support-rod posture and environmental constraint, the authors note that different approach orientations may shift the region. The effect of such orientation changes has not been experimentally characterized, leaving open how robustly the measured graspable region generalizes across approach configurations.