A sufficient condition of force-closure and force distribution for grasping solid objects

摘要

This paper presents an analysis on the mechanics of grasping general solid objects under frictional point contact model. Any disturbing force/moment pair at the mass center of an object can be balanced (or force-closured) if there exist a particular set of internal forces falling inside the friction cone of the contact points. Based on this principle, sufficient conditions for the geometrical properties of the contact points guaranteeing the existence of such internal contact forces are investigated.