摘要
This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.
This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.
基金
ProjectsupportedbytheNationalNaturalScienceFoundationofChina
