Enveloping Grasp for Multiple Objects
نویسندگان
چکیده
This paper discusses the enveloping grasp of nraltiple objects unde~ rolling contacts. We first pro7yide a ge71m-al 71~athematical forn~ulatio?~ on the kinematic 7Aztiollshi,p for nudtiple ob,jects el(l~eloped by a 7nultijingered robot ha7id, and then deril!e a col).ditio?). for judgzl).g whether the rollzT~g condition can be satisfied at each contact point. We also show a sufjcient condit ion fo~ rvlh).g up qw Prod tloo ob,jwts ,qrmspd b~ju 1~~111tifill,qe’1’ed7obot hmtd /T/ (o~ttact (vith the~//. FiI/alh), [III ezpef”~lnel)tal result is sholuli to COIIfirIIAhow easily two cylindrical objects ca7) be e7tTwloped b~ya si7TLplegrasp2Tlq?lLOt’iOTIL
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