Definition and Force Distribution of Power Grasps
نویسندگان
چکیده
This research treats grasping of an object by a multifingered robot hand. By decomposing the space of contact forces exerted between the jingers and the grasped object into subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the grasped object. This approach provides insight into diflerentgrasps basedon a classification into three types. A power grasp is defined when the connectivity of the grasped object is equal to or less than zero. The analysis of contact force distribution is simplified for a power grasp with zero connectivity. Examples for dimensional determination are illustrated.
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تاریخ انتشار 1995