A Stability Tool for Use Within TELEGRIP (ANRCP-1998-19)
نویسندگان
چکیده
This paper describes a graphical tool referred to as StabTool, developed within a commercial software package, TELEGRIP. The basis of StabTool is that it allows functions that can determine the various types of stabilities of an arbitrarily shaped object held by a fixture, robotic gripper, or of a set of objects piled randomly together. Several modes of operation are possible: (1) stability tests given the locations and surface normal directions at the contacts and the set of external force that could act on the object, determine if the object is stable, (2) fixture/grasp design given the geometry of the object and the set of external forces that could act on the object, determine an optimal set of locations of contacts with fixture elements/fingers that will stabilize the object in the face of any force from the given set. Illustrative examples for using these functionalities are included by using graphic models.
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