Direct computation of grasping force for three-finger tip-prehension grasps

Zhiming Ji, B. Roth

Research output: Contribution to conferencePaperpeer-review

6 Scopus citations

Abstract

This paper deals with-the computation of grasping forces for grasps using three-fingered tipprehesion. Of primary interest is the optimization of the internal forces and the direct computation of the grasping force. Using geometrical reasoning, the authors derive the conditions for minimizing the dependence of the internal forces on contact friction. Based on these conditions, formulas are derived for calculating the optimal internal and grasping forces.

Original languageEnglish (US)
Pages125-138
Number of pages14
StatePublished - Dec 1 1988
Externally publishedYes
EventTrends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA
Duration: Sep 25 1988Sep 28 1988

Other

OtherTrends and Developments in Mechanisms, Machines, and Robotics - 1988
CityKissimmee, FL, USA
Period9/25/889/28/88

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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