Application of Advanced Co-Simulation Technology for the Analysis of Grasping

The modern approach to the mechanical design involves advanced simulation tools that may be used in combination to the other approaches to get realistic results. In order to analyze this aspect, this paper aims to investigate the interaction between solid and soft objects involved in dynamic simulation. In the paper, we focus the attention on the mechanics of grasping considering a standard two-finger gripper interacting with a soft ball. The proposed research has a practical outcome related to the manipulation of delicate or soft objects, like horticulture products in winter house. More broad applications cover aspects of prosthetic hands, in which mechanical elements (poly-articular fingers) and soft elements (fingertips) have to be combined and co-simulated in grasping rigid and soft objects. In order to perform the task, a co-simulation approach is used. In this paper, we present preliminary results of the co-simulation between Adams and Marc software applied to a case of study.