Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links

Author

Alvarado, Noe ; Suarez, Raul

Author_Institution

Inst. of Ind. & Control Eng. (IOC), Polytech. Univ. of Catalonia (UPC), Barcelona, Spain

fYear

2013

fDate

10-13 Sept. 2013

Firstpage

1

Lastpage

8

Abstract

This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a finite set of points. The grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp. The grasp synthesis implies the determination of a set of contact points that allows a force-closure grasp. The paper describes how to find the elements of the generalized wrench vector generated by a force applied on any link of the articulated object. The approach have been implemented and some illustrative examples are included in the paper.

Keywords

force; grippers; mechanical contact; vectors; 2D articulated object grasp analysis; 2D articulated object grasp synthesis; finite set of points; force-closure grasp; frictionless contacts; generalized wrench vector; object link boundary; Force; Grasping; Joints; Robot kinematics; Torque; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on

Conference_Location

Cagliari

ISSN

1946-0740

Print_ISBN

978-1-4799-0862-2

Type

conf

DOI

10.1109/ETFA.2013.6648034

Filename

6648034