On the influence of contact geometry on grasp stability

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2, Issue PARTS A AND B, 2008, Pages 993-998

  Kragten, Gert A ^a   Herder, Just L ^a   Schwab, A L ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT FORCES; CONTACT GEOMETRY; CONTACT POINTS; CONTACT STIFFNESS; HIGHLY SENSITIVE; MULTI-BODY DYNAMIC SIMULATION; PLANAR GRASP; PRELOADS; RIGID OBJECTS;

COMPUTER SIMULATION; DESIGN; END EFFECTORS; GEOMETRY; STIFFNESS;

STABILITY;

EID: 81155151384     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2008-49400     Document Type: Conference Paper

References (8)

1. Howard, W. S., and Kumar, V., 1996. "On the stability of grasped objects". IEEE Transactions on Robotics and Automation, 12(6), pp. 904-917. (Pubitemid 126784481)
2. Baker, B. S., Fortune, S., and Gross, E., 1985. "Stable prehension with a multi-fingered hand". In Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 570-575.
3. Sinha, P. R., and Abel, J. M., 1992. "A contact stress model for multifingered grasps of rough objects". IEEE Transactions on Robotics and Automation, 8(1), pp. 7-22.
4. Herder, J. L., and Schwab, A. L., 2004. "On dynamically equivalent force systems and their application to the balancing of a broom or the stability of a shoe box - DETC2004- 57188". In Proc. of DETC2004 ASME Design Engineering Technical Conferences.
5. van der Werff, K., 1977. "Kinematic and dynamic analysis of mechanisms, a finite element approach". PhD thesis, Delft University of Technology, Delft, The Netherlands.
6. Jonker, J. B., 1988. "A finite element dynamic analysis of flexible spatial mechanisms and manipulators". PhD thesis, Delft University of Technology, Delft, The Netherlands.
7. Schwab, A. L., and Meijaard, J. P., 2003. "Dynamics of flexible multibody systems with non-holonomic constraints: a finite element approach". Multibody System Dynamics, 10, pp. 107-123.
8. Cutkosky, M. R., and Wright, P. K., 1986. "Friction, stability and the design of robotic fingers". The International Journal of Robotics Research, 5(4), pp. 20-37.