Dynamic analysis of multi-arm systems manipulating large objects using grippers with multiple point contacts

Certain tasks that cannot be carried out using one robot arm may be performed using a multi-arm robotic system. One of such examples is the manipulation of large objects. In this article, the application of grippers with multiple point contacts for manipulation of large objects is studied. By using such grippers, certain type of large object can be grasped and manipulated irrespective of the effect of friction. In order to analyze the multi-arm systems, a general model is derived. An approach for computing the matrices describing the connection between the grippers and object are proposed