NDLI: General formulation for force distribution in power grasp

Content Provider	IEEE Xplore Digital Library
Author	Mirza, K. Grin, D.E.
Copyright Year	1994
Description	Author affiliation: Trellis Software & Controls, Rochester Hills, MI, USA (Mirza, K.)
Abstract	A general formulation of the force distribution equations for three-dimensional power grasp is presented. It allows for any number of contacts on the finger surfaces and the palm. The formulation not only includes the active forces and moments applied at the contacts, but also the passive forces resulting from frictional and geometric constraints, such as wedging effects. A grasp matrix is developed for the power grasp case and a new approach is taken to define the hand Jacobian matrix. Contact conditions are modeled to consider both constrained and unconstrained directions for the forces. A stability analysis for power grasp is performed in order to evaluate its stability properties. Due to the inherently stable nature of power grasps, the main objective is not the determination of optimum contact locations, but is the determination of joint torques for optimum force distribution. The stability region is defined and used as a measure to study and compare the different stability aspects of power grasps. Results of stability analysis for power grasps, using the DIGITS Grasping System as a model, are also provided.
Starting Page	880
Ending Page	887
File Size	747499
Page Count	8
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351378
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Stability analysis Grasping Force measurement Fingers Power measurement Power system modeling Friction Equations Force control
Content Type	Text
Resource Type	Article

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