A new method for grasp stability evaluation

Author

Yongde, Zhang ; Tso, S.K. ; Fan, K.L.

Author_Institution

Ind. Tech. Coll., Harbin Univ. of Sci. & Technol., China

fYear

2001

fDate

2001

Firstpage

1

Lastpage

4

Abstract

We present a method for grasp stability evaluation that is based on the idea of virtual displacement. We discuss the basic concepts and give the main formula of this method. We also give the grasping examples of objects with different surface curvatures by single contact point, and the grasping example of unit circle by three contact points. Two grasp optimization examples are given finally. These application examples and the calculation results prove the effectiveness of the new method. The method is simple, direct and easy to be realized on a computer. There is no limit to the number of contact points of each finger with the grasped objects. It is easy to realize for 3D object grasp and multiple contact points grasp. This method is expected to have great practical value.

Keywords

dexterous manipulators; stability; 3D object grasp; grasp optimization; grasp stability evaluation; multiple contact points grasp; single contact point; surface curvatures; three contact points; virtual displacement; Application software; Educational institutions; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013163

Filename

1013163