论文信息 - Quasi-static analysis: A method for predicting grasp stability

Quasi-static analysis: A method for predicting grasp stability

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.

L. J. Leifer | J. W. Jameson | L. Leifer | J. Jameson

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