Static Stability Analysis of Spatial Grasps Including Contact Surface Geometry
In this study, we analyze the three-dimensional (3-D) static grasp stability of a single object. Our model takes into account the contact surface geometry (metric tensor, curvature and torsion) and the contact condition (rolling contact and sliding contact). In the case of rolling and
sliding contacts, each finger rolls and slides on the object surface, respectively. Each finger is replaced with a 3-D orthogonal virtual spring model and grasp stability is evaluated from the potential energy stored in the grasp. A grasp stiffness matrix including the effects of contact surface
geometry and contact condition is derived. The stability is evaluated from the eigenvalues of the matrix. Configuration displacement of the object in terms of position and orientation is decomposed into stable and unstable directions using the corresponding eigenvectors. The effectiveness
of our proposed method is demonstrated by several examples.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
CONTACT SURFACE GEOMETRY;
GRASP STIFFNESS MATRIX;
THREE-DIMENSIONAL ORTHOGONAL SPRING MODEL
Document Type: Research Article
Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan;, Email: [email protected]
Graduate School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555, Japan
Research Center of Nano Device and System, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555, Japan
Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota, Aichi 470-0393, Japan
Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan;
Publication date: 2011-02-01