Title: Analysis of multifinger grasp internal forces for stably grasping multiple polyhedral objects
Authors: Yong Yu; Kenro Fukuda
Addresses: Graduate School of Science and Engineering, Kagoshima University, Kagoshima 8900065, Japan ' Graduate School of Science and Engineering, Kagoshima University, Kagoshima 8900065, Japan
Abstract: When multiple objects are grasped by multiple robot fingers, the feasible grasp finger forces are limited directionally because of the geometrical and frictional conditions on the contact parts among the objects. This paper proposes an approach to judge if a group of given fingertip positions is feasible, that is, if there are a set of internal finger forces for stably grasping the multiple objects at the given fingertip positions. Then the approach can obtain the graspable finger force region. In this paper, the generable contact force set for a contact part is discussed from the geometrical and frictional conditions of the part. Based on the contact force sets for all contact parts, an algorithm to obtain the set of the internal finger forces which can be generated actually is analysed. And an algorithm to obtain the set of the internal finger forces which can hold all objects fast and stably is addressed. Lastly, numerical examples and their experiments are performed to verify the effectiveness of the proposed approach.
Keywords: grasping stability; multiple objects; multiple fingers; grasp internal forces; polyhedral convex cones; robot fingers; robot grasping; grasp forces; contact force; stable grasp.
International Journal of Mechatronics and Automation, 2013 Vol.3 No.3, pp.203 - 216
Received: 20 Aug 2012
Accepted: 04 Jan 2013
Published online: 29 Jul 2013 *