RESEARCH PAPERS: Mechanisms Papers

Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps

[+] Author and Article Information
Z. Ji

Department of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China

B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, California 94305

J. Mech., Trans., and Automation 110(4), 405-413 (Dec 01, 1988) (9 pages) doi:10.1115/1.3258937 History: Received June 01, 1987; Online November 19, 2009


This paper deals with the computation of grasping forces for grasps using three-fingered tip-prehension. Of primary interest is the optimization of the internal forces and the direct computation of the grasping force. Using geometrical reasoning, we derive the conditions for minimizing the dependence of the internal forces on contact friction. Based on these conditions, formulas are derived for calculating the optimal internal and grasping forces.

Copyright © 1988 by ASME
Topics: Force , Grasping , Computation
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