Sub-optimal algorithms for force distribution in multifingered grippers

The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The system is statically indeterminate and an optimal solution for this problem is desired for force control. A fast and efficient sub-optimal method for computing the grasping forces is presented. This method is based on the superposition of fingerinteraction forces on equilibrating forces. An interaction force is defined as the component of the vector difference of the finger contact forces at any two fingers along the line joining the two contact points. They are computed based on the assumption that the normals at the point of contact pass through the centroid of the contact points and are therefore independent of the actual geometry of the object. The contact interaction is modelled as a point contact. The problems associated with making the algorithm independent of the object geometry are explored. Disciplines Engineering | Mechanical Engineering Comments Suggested Citation: Kumar, V., and K.J. Waldron. (1987). "Sub-Optimal Algorithms for Force Distribution in Multifingered Grippers." IEEE Journal on Robotics and Automation, Vol.5(4). pp. 252 257 . ©1987 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This journal article is available at ScholarlyCommons: http://repository.upenn.edu/meam_papers/249 SUB-OPTIMAL ALGORITHMS FOR FORCE DISTRIBUTION IN MULTIFINGERED GRIPPERS * Vi j a y Kumar Kenneth J . Waldron * Graduate Research Associate ** ** The John B . Nordholt Professor The Department of Mechanical Engineering The Ohio S ta te Univers i ty 206 West 18th Avenue Columbus. OH 43210