Title :
Quasi-static analysis: A method for predicting grasp stability
Author :
Jameson, J.W. ; Leifer, L.J.
Author_Institution :
Department of Mechanical Engineering, Design Division, Stanford, CA.
Abstract :
This paper introduces a general method for predicting the stability of grasps obtained by articulated mechanical hands. Two contact models are considered: point contact with friction, and a distributed form called the "soft finger contact". The method is applicable to a large class of statically indeterminate, as well as determinate, cases. Results from several examples are included.
Keywords :
Application software; Fingers; Force control; Friction; Government; Grasping; Grippers; Motion control; Stability analysis; Stability criteria;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087592
