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Proceedings Paper

Efficient method for computing the force distribution of a three-fingered grasp
Author(s): Ian David Walker; John B. Cheatham, Jr.; Yu-Che Chen
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Paper Abstract

A methodology and an algorithmic implementation are proposed for the choice of the feasible grasp points on irregular objects. In particular, the three-fingered grasp of a planar object is considered. Grasp points are chosen on the basis of an analysis of the internal grasping forces using a point contact model. It is shown that the frictional constraint at each finger can be easily satisfied by tuning the magnitude of the normal components of the finger forces. Thus, the forces needed to be generated at each finger during manipulation can be efficiently calculated.

Paper Details

Date Published: 1 February 1991
PDF: 15 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25431
Show Author Affiliations
Ian David Walker, Rice Univ. (United States)
John B. Cheatham, Jr., Rice Univ. (United States)
Yu-Che Chen, Rice Univ. (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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