ABSTRACT
For many industrial parts, their resting pose differs from the orientation desired for assembly. It is pos sible in many cases to compensate for this difference using a parallel-jaw gnpper with fixed orientation. The idea is to arrange contact points on each gnpper jaw so that the part is reonented as it is grasped. We ana lyze 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.
