This paper presents an analysis of the mechanics for multifingered grasps of planar and solid objects. Squeezing and frictional effects between the fingers and the grasped objects is fully visualized through our approach. An algorithm for qualitively choosing the grasp points is developed based on the mechanics of grasping. it is shown further that our method can be easily extended for the soft-fingered grasp model where the torsional movements along the contact normals can be transmitted through the grasp points.

Date Published: 1 March 1992
PDF: 21 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56772

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)