Title :
The initial grasp liftability chart
Author :
Trinkle, Jeffrey C. ; Paul, Richard P.
Author_Institution :
Dept. of Mech. Eng., Wollongong Univ., NSW, Australia
fDate :
2/1/1989 12:00:00 AM
Abstract :
Engineering mechanics is used to develop the initial grasp liftability chart, or IGLIC. Its primary usefulness is in planning and analyzing grasps for lifting frictionless objects. Candidate grasp configurations can be mapped onto the IGLIC to determine, first, whether the grasp can be used to lift the object and, second, the nature of liftoff. Even though the development is undertaken for the two-dimensional case, the results can be applied to three-dimensional objects which can be approximated as generalized cylinders, by considering appropriate cross sections of the cylinders
Keywords :
mechanical engineering; robots; IGLIC; engineering mechanics; initial grasp liftability chart; manipulation; robots; Assembly systems; Contracts; Fingers; Fixtures; Grippers; Motion control; Path planning; Potential energy; Robotic assembly; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Transactions on
