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Synopsis
This book explores the problem of finding a stable distribution of forces among multiple fingers grasping an object, with a view to minimizing the grip's dependence on friction. It generalises and simplifies the results of earlier work by other researchers to encompass all geometric arrangements of point contacts and includes an analysis of the three-dimensional case, along with cases of varying coefficients of friction. The author proves that for all cases, with certain exceptions, the optimal equilibrium forces are those with the same absolute value of angle with respect to the corresponding inward pointing normal. The author also provides a procedure for computing these equilibrium forces, which reduces the non-linear optimisation problem to a generalised eigenvalue problem. This approach is shown to have applications to the analysis of grasping manipulators regardless of the kinematic configuration of the fingers, and has been verified experimentally using a four finger manipulator.
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Optimal Three Finger Grasps (Classic Reprint)
Print on DemandSeller: Forgotten Books, London, United Kingdom
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Paperback. Condition: New. Print on Demand. This book explores the problem of finding a stable distribution of forces among multiple fingers grasping an object, with a view to minimizing the grip's dependence on friction. It generalises and simplifies the results of earlier work by other researchers to encompass all geometric arrangements of point contacts and includes an analysis of the three-dimensional case, along with cases of varying coefficients of friction. The author proves that for all cases, with certain exceptions, the optimal equilibrium forces are those with the same absolute value of angle with respect to the corresponding inward pointing normal. The author also provides a procedure for computing these equilibrium forces, which reduces the non-linear optimisation problem to a generalised eigenvalue problem. This approach is shown to have applications to the analysis of grasping manipulators regardless of the kinematic configuration of the fingers, and has been verified experimentally using a four finger manipulator. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book. print-on-demand item. Seller Inventory # 9781333506872_0
Quantity: Over 20 available
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Optimal Three Finger Grasps Classic Reprint
Seller: PBShop.store UK, Fairford, GLOS, United Kingdom
Seller rating 5 out of 5 stars
PAP. Condition: New. New Book. Shipped from UK. Established seller since 2000. Seller Inventory # LW-9781333506872
Quantity: 15 available
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Optimal Three Finger Grasps Classic Reprint
Seller: PBShop.store US, Wood Dale, IL, U.S.A.
Seller rating 5 out of 5 stars
PAP. Condition: New. New Book. Shipped from UK. Established seller since 2000. Seller Inventory # LW-9781333506872
Quantity: 15 available