Grasping Using a Three-Fingered Gripper

This paper makes use of recent theoretical advances in the analysis and modelling of frictional restraint of rigid bodies, by applying the theory to a three-fingered gripper, and drawing conclusions about the design of grippers. It is shown how the influence of flexibility in the contact region influences the necessary frictional properties, and how preload affects the capability of a gripper to restrain an object properly.