Analysis of multifinger grasp internal forces for stably grasping multiple polyhedral objects Online publication date: Wed, 30-Apr-2014
by Yong Yu; Kenro Fukuda
International Journal of Mechatronics and Automation (IJMA), Vol. 3, No. 3, 2013
Abstract: When multiple objects are grasped by multiple robot fingers, the feasible grasp finger forces are limited directionally because of the geometrical and frictional conditions on the contact parts among the objects. This paper proposes an approach to judge if a group of given fingertip positions is feasible, that is, if there are a set of internal finger forces for stably grasping the multiple objects at the given fingertip positions. Then the approach can obtain the graspable finger force region. In this paper, the generable contact force set for a contact part is discussed from the geometrical and frictional conditions of the part. Based on the contact force sets for all contact parts, an algorithm to obtain the set of the internal finger forces which can be generated actually is analysed. And an algorithm to obtain the set of the internal finger forces which can hold all objects fast and stably is addressed. Lastly, numerical examples and their experiments are performed to verify the effectiveness of the proposed approach.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook