Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect
نویسندگان
چکیده
In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the position of the center of gravity (COG) to exist such that the grasp is stable. A necessary and sufficient condition is derived under assumptions with respect to the stiffness and contact points. Furthermore, on the derived condition, the position of the COG is characterized with respect to the stiffness and contact points. It is especially indicated that the grasp can be stable with any position of the COG. Numerical examples are shown to prove the effectiveness of the analysis.
منابع مشابه
Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...
متن کاملPsychophysical Size Discrimination using Multi- fingered Haptic Interfaces
The use of multi-fingered haptic devices can potentially provide users much more realistic interactions in virtual environments compared to single-point contact devices. The usability of multi-fingered devices necessitates the need for an understanding of their performance characteristics. Multiple Phantoms devices were used in psychophysical size discrimination experiments using two and three ...
متن کاملContact stability for two-fingered grasps
We distinguish between two types of grasp stability, which we call spatial grasp stability and contact grasp stability. We show via examples that spatial stability cannot capture certain intuitive concepts of grasp stability and hence that any full understanding of grasp stability must include contact stability. We derive a model of how the positions of the points of contact evolve in time on t...
متن کاملDevelopment of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism
This paper develops a multi-fingered robot hand with skin mechanism enabling softness change. We show how the softness of the skin affects grasping and manipulation. Elastic skin provides stable grasping while precise manipulation is lost. Hard skin provides precise manipulation while stability of grasp is lost. We will try to change the softness of the skin according to situation, object, and ...
متن کاملStability analysis of concrete gravity basestructures in rocking motion under wave effect
Given the worldwide industry progress in the construction of massive concrete structures, it would be a good idea to use concrete gravity base structures (GBS).In this regard, better understanding of thesestructuresregardingtheiradvantages and disadvantages in offshore areas seems necessary.The present study employed MacCammy-Fuchs method, which is based on the size of the structure to the wave...
متن کامل