Title :
On the properties of 3D grasping forces: theory
Author :
Wu, Shiaw-Chian ; Hor, Maw-kae
Author_Institution :
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
Abstract :
In this paper, we introduced the concept of the force concentration line in analyzing the force distribution among the grasping fingers in 3D four-fingered grasps. The characteristics of the force concentration lines and the relationship between these lines and the principal axes are discussed. A new representation of the finger forces is proposed and the equilibrium grasping forces can be expressed and determined clearly using this representation. It turns out, that, using this new representation scheme, we can solve all the possible solutions to the grasping force distribution problem.
Keywords :
manipulator dynamics; 3D four-fingered grasps; 3D grasping forces; force concentration lines; force distribution analysis; grasping fingers; Computer science; Concurrent computing; Fingers; Friction; Information analysis; Information science; Internet; Robots; Stability analysis; Torque;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020146
