Title :
Prehension mode constraints for a robot gripper
Author :
Varma, K. Venugopal ; Tasch, Uri
Author_Institution :
Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
Abstract :
The authors address the constraints that guarantee liftability of irregularly shaped objects. Geometric constraints that guarantee static equilibrium state between the object and the gripper are presented. The grasping constraints are discussed that result from the presence and the absence of external forces. These constraints shed light on many human grasping strategies for lifting various objects of different geometries. Grasping limitations based on the object´s surface topology are formulated
Keywords :
geometry; robots; irregularly shaped objects; liftability; prehension mode constraints; robot gripper; static equilibrium; surface topology; Fingers; Friction; Geometry; Grasping; Grippers; Humans; Mechanical engineering; Robotic assembly; Robotics and automation; Service robots;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169891
