Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps-Reference-Cited by-同舟云学术

Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps

Published:1988-12-01 Issue:4 Volume:110 Page:405-413
ISSN:0738-0666
Container-title:Journal of Mechanisms, Transmissions, and Automation in Design
language:en
Short-container-title:

Author:

Ji Z.¹,Roth B.²

Affiliation:

1. Department of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China

2. Department of Mechanical Engineering, Stanford University, Stanford, California 94305

Abstract

This paper deals with the computation of grasping forces for grasps using three-fingered tip-prehension. Of primary interest is the optimization of the internal forces and the direct computation of the grasping force. Using geometrical reasoning, we derive the conditions for minimizing the dependence of the internal forces on contact friction. Based on these conditions, formulas are derived for calculating the optimal internal and grasping forces.

Publisher

ASME International

Subject

General Engineering

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/110/4/405/5574411/405_1.pdf

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