A new method for grasp stability evaluation

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.