DocumentCode
1861129
Title
An analysis of squeezing and twisting for multifingered grasping
Author
Chen, Yu-Che ; Walker, Ian D.
Author_Institution
Dept. of Mech. Eng., Tulsa Univ., OK, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
188
Abstract
An analysis of the mechanics for multifingered grasps of planar and solid objects is presented. The main feature of the authors´ approach is the decomposition of the contact finger forces. At each grasp point, a contact force is resolved into components along the normal and tangential directions. This formulation of decomposition gives deeper physical insights into the roles of the normal and tangential finger force components for multifingered manipulation
Keywords
robots; contact finger forces; force decomposition; force resolution; mechanics; multifingered grasps; planar objects; solid objects; squeezing; twisting; Educational institutions; Fingers; Grasping; Linear programming; Mechanical engineering; Robot sensing systems; Solids; Stability analysis; Sufficient conditions; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291851
Filename
291851
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