1. Quasi-static analysis: A method for predicting grasp stability
- Author
-
Larry Leifer and J. W. Jameson
- Subjects
Statically indeterminate ,Engineering ,business.industry ,GRASP ,Stability (learning theory) ,Quasi static analysis ,Motion control ,Application software ,computer.software_genre ,Control theory ,Grippers ,Soft finger ,business ,computer - Abstract
This paper introduces a general method for predicting the stability of grasps obtained by articulated mechanical hands. Two contact models are considered: point contact with friction, and a distributed form called the "soft finger contact". The method is applicable to a large class of statically indeterminate, as well as determinate, cases. Results from several examples are included.
- Published
- 2005
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