NDLI: Passive and active closures by constraining mechanisms

Content Provider	IEEE Xplore Digital Library
Author	Yoshikawa, T.
Copyright Year	1996
Description	Author affiliation: Dept. of Mech. Eng., Kyoto Univ., Japan (Yoshikawa, T.)
Abstract	This paper provides a unified theoretical framework for grasping and manipulation by robotic grippers and hands as well as for fixing works by fixtures and vises. The concept of passive closure and active closure for general constraining mechanisms is introduced. Passive closure is further classified into passive form closure and passive force closure. Conditions for these closures to hold are studied. Several new conditions are given for passive force closure. Especially, it is shown that, for the existence of passive force closure by frictionless point contacts, there must be at least six fixed contact points in the case of three dimensional space, and at least three in the case of two dimensional space. Conditions for other closures, which are mostly slight modifications of known results, are also included to show that they are naturally located in proper positions in the proposed unified framework.
Starting Page	1477
Ending Page	1484
File Size	717018
Page Count	8
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.506914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Grippers Fixtures Friction Mechanical engineering Robot sensing systems Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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