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RESEARCH PAPERS

An Exact Optimization of Interaction Forces in Three-Fingered Manipulation

[+] Author and Article Information
S. Mukherjee, K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Mech. Des 114(1), 48-54 (Mar 01, 1992) (7 pages) doi:10.1115/1.2916924 History: Received June 01, 1990; Online June 02, 2008

Abstract

Manipulation with three fingers in frictional contact is known to be an underspecified problem. The minimum norm solution, also referred to as the equilibrating solution field, can be modified by superimposing a linear combination of the resulting null solutions, called the interaction force field. The modification proposed here, applicable to the three-dimensional problem, minimizes the maximum value of the friction angle at the points of contract. A grasp of maximum possible stability under a set of contact and loading conditions is hence achieved.

Copyright © 1992 by The American Society of Mechanical Engineers
Topics: Force , Optimization
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