We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC) as a general contact stability criterion (a “ZMP for non-coplanar contacts”). We show how to compute this wrench cone from the friction cones of contact forces by using an intermediate representation, the surface contact wrench cone, which is the minimal representation of contact stability for each surface ...

In lathe operation, the most frequently used wrenches are chuck and tool holder wrenches, which different in structure function cannot be replaced, forgetting to remove will cause safety accidents. To solve above problems, this paper designs a new type of wrench, integrates functions wrench various screwdrivers, can easily change form by certain improves production efficiency eliminates hazards.

This research focuses on improved force-reflecting teleoperation system control in free motion and contact tasks. Specifically, the Naturally-Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to: 1) achieve a unified controller with no mode switches from free motion to contact; and 2) reduce the wrench exerted on the...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...

The paper deals with the problem of finding a form-closure fixturing of objects modeled with triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a triangular mesh is a polyhedral representation of the object, the number of faces is too large to allow a practical application of existing approaches for polyhedral objects, a...

This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general twoand threedimensional grasps and fixtures represented by any quasirigid compliance model, employs a quality measure that characterizes the grasped or fixtured object’s worst-case deflection caused by distu...