Fundamentals Of Robotic Grasping And Fixturing (Series on by Caihua Xiong

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By Caihua Xiong

This e-book presents a primary wisdom of robot greedy and fixturing (RGF) manipulation. For RGF manipulation to develop into a technology instead of an artwork, the content material of the publication is uniquely designed for an intensive realizing of the RGF from the multifingered robotic hand seize, uncomplicated fixture layout precept, and comparing and making plans of robot grasping/fixturing, and specializes in the modeling and purposes of the RGF. in comparison with present guides, this quantity concentrates extra on summary formula, i.e. mathematical modeling of robot greedy and fixturing. therefore, will probably be a very good reference textual content for tutorial researchers, production and business engineers and a textbook for engineering graduate scholars. The publication presents readers an total photograph and clinical foundation of RGF, the great details and mathematic versions of constructing and utilising RGF in undefined, and offers long-term invaluable info that's crucial and will be utilized by technical professions as an excellent reference.

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Additional info for Fundamentals Of Robotic Grasping And Fixturing (Series on Manufacturing Systems and Technology) (Series on Manufacturing Systems and Technology)

Sample text

A grasp on an object is in force closure (which is referred to as stable grasp) if and only if we can exert, through the set of contacts, arbitrary force and moment on this object. Equivalently, any motion of the object is resisted by a contact force [2]. In the contact configuration space, there are many configurations which satisfy the force closure conditions. How to put the fingertips such that the grasp is stable largely depends on the experience. It is, in general, a complex decision process, requiring tradeoffs between many grasp evaluation measures.

Kerr D. R. Geometric Modelling of Boundless Grasps. Robotica, 11, pp. 19-26. 1993. , Papadimitriou C. H. The Geometry of Grasping. International Journal of Robotics Research, 9(1), pp. 61-72. 1990. [19] Bicchi A. On the Closure Properties of Robotics Grasping. International Journal of Robotics Research, 14(4), pp. 319-334. 1995. , Kitagawa M. Kinematic Analysis and Planning for Form Closure Grasps by Robotic Hands. Robotics and Computer Integrated Manufacturing, 5(4), pp. 293-299. 1989. [21] Liu Y.

Proposed the quantitative 30 Chapter 3: Stability Index and Contact Configuration Planning 31 tests for force-closure grasps [10]. Nakamura et al. developed a method of evaluating contact stability [4]. The concept of contact stability was defined as the ability to keep contact with an object without slipping for a class of unexpected disturbing forces [4]. Xiong et al. described the geometric approach to the analysis and synthesis of the force closure grasp with frictional contact on the basis of the concepts of constraint cone and freedom cone [5].

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