Synthesis of 4-frictionless optimal grasp of polygonal objects
The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions of the applied forces. These parameters are used to obtain a new formulation of...
| Autores: | , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2006 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/467 |
| Acceso en línea: | https://hdl.handle.net/2117/467 |
| Access Level: | acceso abierto |
| Palabra clave: | Manipulators (Mechanisms) Grasp synthesis Optimal grasps Form-closure Intrinsic grasp parameters Fixture design Sintesis de prensions Prensions òptimes Paràmetres d'una prensió Disseny de fixacions Sintesis de prensiones Prensiones óptimas Parámetros de una prensión Diseño de fijaciones Robòtica -- Informes tècnics Manipuladors (Mecanismes) -- Informes tècnics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions of the applied forces. These parameters are used to obtain a new formulation of the necessary and sufficient condition for the existence of four-finger frictionless form-closure grasps, as well as to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to fins a root of a non-linear equation). This procedure is the used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown |
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