Grasp analysis and synthesis of 2D articulated objects with n links
Pages 81 - 90
Abstract
This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper. HighlightsA procedure to analyze and synthesize grasps of 2D articulated objects is proposed.The model for the generalized wrench space for 2D articulated objects is presented.A procedure to analyze if a set of contact points is a FC grasp is presented.A grasp synthesis algorithm for finding FC grasps is presented.
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- Grasp analysis and synthesis of 2D articulated objects with n links
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Published: 01 February 2015
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