Graphical Analysis of Enveloping Grasp by Multifingered Robot Hand Based on Plane of Detaching Motions

摘要

This paper describes a graphical method for analyzing a planar enveloping grasp by multifingered robot hand. The duality between form closure and force closure for the enveloping grasp is derived from the theory of alternative. The graphical method for deciding whether the enveloping grasp is force closure or not is proposed. The method is derived from the fact that the object motions in plane can be viewed as the rotation around the instantaneous center of rotation. The quality of the enveloping grasp is also discussed using the proposed method.