DocumentCode
299998
Title
A sufficient condition of force-closure and force distribution for grasping solid objects
Author
Chen, Yu-Che
Author_Institution
Dept. of Mech. Eng., Tulsa Univ., OK, USA
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1361
Abstract
This paper presents an analysis on the mechanics of grasping general solid objects under frictional point contact model. Any disturbing force/moment pair at the mass center of an object can be balanced (or force-closured) if there exist a particular set of internal forces falling inside the friction cone of the contact points. Based on this principle, sufficient conditions for the geometrical properties of the contact points guaranteeing the existence of such internal contact forces are investigated
Keywords
friction; geometry; manipulators; disturbing force/moment pair; force distribution; force-closure; frictional point contact model; geometrical properties; grasping; solid objects; sufficient condition; Educational institutions; Equations; Friction; Geometry; Mechanical engineering; Position measurement; Robotics and automation; Solid modeling; Sufficient conditions; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525468
Filename
525468
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