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 language | English (US) |
|---|---|
| Pages | 125-138 |
| Number of pages | 14 |
| State | Published - 1988 |
| Externally published | Yes |
| Event | Trends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA Duration: Sep 25 1988 → Sep 28 1988 |
Other
| Other | Trends and Developments in Mechanisms, Machines, and Robotics - 1988 |
|---|---|
| City | Kissimmee, FL, USA |
| Period | 9/25/88 → 9/28/88 |
All Science Journal Classification (ASJC) codes
- General Engineering