This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a finite set of points. The grasp analysis is carried out to verify
whether a set of contact points on the object boundary allows a force-closure grasp. The grasp synthesis implies
the determination of a set of contact points that allows a force-closure grasp. The paper describes how to find the elements of the generalized wrench vector generated
by a force applied on any link of the articulated object.
The approach have been implemented and some illustrative examples are included in the paper.
CitationAlvarado, N.; Suarez, R. Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links. A: IEEE International Conference on Emerging Technologies and Factory Automation. "18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13". Cagliari: 2013, p. 1-8.
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