Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but...

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Bibliographic Details
Main Authors: Takayoshi Yamada, Rolf Johansson, Anders Robertsson, Hidehiko Yamamoto
Format: Article
Language:English
Published: MDPI AG 2015-11-01
Series:Robotics
Subjects:
multifingered hand
planar grasp
grasp stability
grasp stiffness matrix
three joints
gravity effect
rolling and sliding contacts
local surface curvature
Online Access:http://www.mdpi.com/2218-6581/4/4/464

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http://www.mdpi.com/2218-6581/4/4/464

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