Passive Forces in Fixturing and Grasping
نویسنده
چکیده
Analysis and characterization of contact forces are important in fixture design and robotic grasping since they define the object stability during fixturing or grasping. This paper presents a description of passive forces arising at the normal and frictional contacts by passive physical means. The passivity nature requires application of the minimum norm principle to solve a constrained quadratic optimization in order to determine the passive contact force. The model reveals some intricate properties of the passive contact forces, including internal passive forces. Further, a notion of hybrid force closure is considered to characterize the passive nature of the hybrid forces. The hybrid force closure conditions and their implications in practice are illustrated with an example.
منابع مشابه
Grasping and Fixturing: a Geometric Study and an Implementation
Grasping and Fixturing: a Geometric Study and an Implementation
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