Robust Grasp Design Using Grasp Force Focus Positioning

摘要

A three-finger precision grasp is used to rotate a cylindrical object about athreaded post. Three fingered grasps are unique in that the homogeneous solution for the contact forces produces a grasp force focus. Mapping of focus points which meet grasp stability and joint torque criteria results in a usable focus region. The effects of applied torque, contact location, and object position and orientation on usable regions are presented. Stability behavior about the region is also examined. Results are used to demonstrate a technique for robust grasp design. The versatility of robotic hands permit fine motion manipulation on a wide variety of objects. This distinct advantage of manipulating an assortment of objects eliminates the need for multiple custom end effectors. Today's economy demands that new technology advancements lead to operational systems which are efficient, robust, and low cost. Perhaps the most desirable characteristic for current technology is the ability to perform a wide variety of tasks with a single system configuration. Robotic systems configured with articulated hands have the potential to satisfy each of these attributes and more.