Prehension mode constraints for a robot gripper

Abstract

The authors address the constraints that guarantee liftability of irregularly shaped objects. Geometric constraints that guarantee static equilibrium state between the object and the gripper are presented. The grasping constraints are discussed that result from the presence and the absence of external forces. These constraints shed light on many human grasping strategies for lifting various objects of different geometries. Grasping limitations based on the object's surface topology are formulated.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>