Repeatability of asymmetric-loading limitations

Determine whether the reduction in grasp stability caused by heavy loading, off-centre loading, and nonuniform roller motion is a repeatable limitation of the hybrid roller-jamming gripper under asymmetric loading.

Background

The planar-offset evaluation recorded only one failure, involving the gallon jug. The discussion attributes this possible limitation to the combination of object mass, off-centre loading, and nonuniform roller motion: because each roller is driven from one end, deformation or heavy loading may cause a rotational lag along the roller and produce unbalanced contact.

Since the observed failure occurred only once, the paper does not establish whether this behavior is systematic or repeatable. Additional experiments under asymmetric loading are therefore needed to determine whether the suspected reduction in grasp stability represents a reproducible limitation of the current roller-jamming design.