Internal forces and stability in multi-finger grasps

M. M. Svinin; M. Kaneko; T. Tsuji

doi:10.1016/S0967-0661(98)00157-9

Internal forces and stability in multi-finger grasps

M. M. Svinin, M. Kaneko, T. Tsuji

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.

Original language	English
Pages (from-to)	413-422
Number of pages	10
Journal	Control Engineering Practice
Volume	7
Issue number	3
DOIs	https://doi.org/10.1016/S0967-0661(98)00157-9
Publication status	Published - Mar 1999
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering
Applied Mathematics

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10.1016/S0967-0661(98)00157-9

Cite this

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abstract = "This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.",

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AU - Kaneko, M.

AU - Tsuji, T.

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N2 - This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.

AB - This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.

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JF - Control Engineering Practice

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ER -

Internal forces and stability in multi-finger grasps

Abstract

All Science Journal Classification (ASJC) codes

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