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

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.