Journal
MECHANISM AND MACHINE THEORY
Volume 158, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.104241
Keywords
Enveloping grasp; Force-closure; Optimization; Grasp planning
Categories
Funding
- National Natural Science Foundation of China [U1613201]
- National Key Research and Development Program of China
- Shenzhen Research and Development Program of China [JCYJ20200109112818703]
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This paper investigates grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand, proposes a method for computing the grasp stability evaluation index, analyzes the effects of friction coefficients and deployment length on grasp stability, and finally presents an optimal enveloping grasp planning method.
Enveloping grasp planning of the contact points is a challenging task in the field of robotics due to the complex constraints during grasp manipulation. In this paper, grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand (DRH) are studied. First, a method for computing the grasp stability evaluation index of the enveloping grasp is proposed based on the geometric analysis. Second, the effects of the friction coefficients and the deployment length of the DRH on the grasp stability of the enveloping grasp are analyzed and summarized. Third, an optimal enveloping grasp planning method is proposed to obtain the desired deployment length of the DRH and to achieve a firm grasp. Finally, the effectiveness and feasibility of the proposed optimal enveloping grasp planning method are validated through experiments. (C) 2021 Elsevier Ltd. All rights reserved.
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