A linear complementarity approach to the articulated multifingered friction gripper

摘要

AbstractIn this article, the problem of grasping by an articulated multifingered gripper is investigated. The fingers' joints are idealized by angular and linear springs for the revolute and prismatic joints, respectively. The method, which was developed here, considers the cases of both hard and soft fingers. The unilateral frictional contact problem for the gripper‐object system is formulated as a linear complementarity problem. Numerical examples illustrating the theory are give