Title :
A sufficient condition of force-closure and force distribution for grasping solid objects
Author_Institution :
Dept. of Mech. Eng., Tulsa Univ., OK, USA
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525468
