This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper.
This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality measure considered in this work is the largest perturbation wrench that a grasp can resist with independence of the direction of the perturbation. The approach has been implemented and some illustrative examples are included in the article.
This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a finite set of points. First, the article presents a methodology to represent the generalized wrench space for an articulated 3D object with n links. This wrench space is generated by the forces applied on the links of the articulated object. Second, the algorithm that finds the set of points which allow a force-closure grasp using the generalized wrench space is\ud
described. The approach has been implemented and some illustrative examples are included in the paper.Postprint (published version
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