Grasping mechanisms (grippers) are used for a wide range of applications including fixturing arrangements, industrial, agricultural, and service robotics for medical and home use. The gripper must immobilize the object it is manipulating, while applying the minimal necessary grasping force, in order to prevent the grasped object's bruising. Performing grasp analysis and synthesis, requires the development of a grasp model. The grasp model includes kinematic, dynamic and contact models, where the last define the coupling between the contact forces and their deformations [4]. All grasp models greatly depend on the system's parameters, such as the number of contact points, the object's geometry, the gripper's structure, the desired object's manipulation, and the mechanical properties of the object and gripper [3].
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