Stability analysis of a single object grasped by a multifingered hand with angular joints in 2D

Yamada, Takayoshi; Yamada, Masashi; Yamamoto, Hidehiko

doi:10.1109/icma.2011.5985965

Cited by 2 publications

(5 citation statements)

References 17 publications

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“…Our results are applicable for grasping an object in grasp planning or stabilizing or immobilizing an object in fixture position planning. The two-joints case was discussed in Reference [22]. If the number of joints is more than three, the joint Jacobian described in Section 3.3 is not a square matrix.…”

Section: Assumptionsmentioning

confidence: 99%

“…The link shape is included in the matrix is most important for our derivations. From these definitions, we have the following partial derivative (See Appendix A of [22]):…”

Section: Joint Position and Local Coordinate Framementioning

confidence: 99%

“…Yamada et al [22] included the finger links and discussed the case that the fingers are constructed by revolute joints. The grasp stiffness matrix was formulated not only for the rolling contact but also for the sliding contact.…”

Section: Introductionmentioning

confidence: 99%

“…In order for the rolling contact constraint to occur between the finger and the object, every finger requires at least two joints. Hence, Reference [22] employed two-joint fingers based on Reference [18].…”

Section: Introductionmentioning

confidence: 99%

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Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

et al. 2015

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This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy method. This paper makes the following contributions: (i) Grasp wrench vectors and grasp stiffness matrices are analytically derived not only for the rolling contact but also for the sliding contact; (ii) It is shown in detail that the vectors and the matrices are given by functions of grasp parameters such as the contact conditions (rolling contact and sliding contact), the contact position, the contact force, the local curvature, the link shape, the object mass, the link masses, and so on; (iii) By using positive definiteness of the difference matrix of the grasp stiffness matrices, it is analytically proved that the rolling contact grasp is more stable than the sliding contact grasp. The displacement direction affected by the contact condition deviation is derived; (iv) By using positive definiteness of the differential matrix with respect to the local curvatures, it is analytically proved that the grasp stability increases when the local curvatures decrease. The displacement direction affected by the local curvature deviation is also derived; (v) Effects of the object mass and the joint positions are discussed using numerical examples. The numerical results are reinforced by analytical explanations. The effect of the link masses is also investigated.

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Section: Assumptionsmentioning

confidence: 99%

“…The link shape is included in the matrix is most important for our derivations. From these definitions, we have the following partial derivative (See Appendix A of [22]):…”

Section: Joint Position and Local Coordinate Framementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

et al. 2015

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“…Ref. [16] investigated the stability of a single object where each finger is constructed with revolute joints. As both the grasping with revolute joints and the frictionless sliding contact constraint are nonlinear conditions, the grasp stability analysis has much difficulties and complexity.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of multiple objects grasped by multifingered hands with revolute joints in 2D

Yamada

Yamamoto

2012

2012 IEEE International Conference on Mechatronics and Automation

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We analyze static grasp stability of multiple planar objects. In our previous papers, we considered that each finger is replaced with an orthogonal virtual spring model. This means that each finger is constructed with prismatic joints. Human hands and the most developing mechanical hands are constructed with revolute joints. In this paper, we investigate the effect of fingertip rotation and revolute joints for grasping multiple objects. The stability is analyzed from the potential energy method. A grasp stiffness matrix is derived by considering not only frictional rolling contact but also frictionless sliding contact. The gravity effect of the objects is also considered. The stability is evaluated by the eigenvalues and eigenvectors of the grasp stiffness matrix. The effectiveness of our method is demonstrated through numerical examples.

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Stability analysis of a single object grasped by a multifingered hand with angular joints in 2D

Cited by 2 publications

References 17 publications

Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

Stability analysis of multiple objects grasped by multifingered hands with revolute joints in 2D

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