On force and form closure for multiple finger grasps
On force and form closure for multiple finger grasps
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DOI：
10.1109/robot.1996.506972
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发表时间：
1996-04
期刊：
影响因子：
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通讯作者：
E. Rimon;J. Burdick
中科院分区：
文献类型：
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作者：
E. Rimon;J. Burdick
本文考虑力与形闭包的关系。本文在前人发展的自由度理论的基础上，给出了无摩擦抓取的1/sup st/和2/sup nd/阶形式闭包的精确定义。作者还引入了二阶力封闭的新概念。作者证明了对于无摩擦接触的情形，抓取是1/sup st/ order力闭包当且仅当它是1/sup st/ order形式闭包.作者进一步证明了抓取是2/sup nd/ order力闭包的充要条件是抓取也是2/sup nd/ order形式闭包.
This paper considers the relationship between force and form closure. Based on a previously developed mobility theory, the authors give precise definitions for 1/sup st/ and 2/sup nd/ order form closure for frictionless grasps. The authors also introduce the new concept of 2/sup nd/ order force closure. The authors show for the case of frictionless contacts, a grasp is 1/sup st/ order force closure if and only if it is 1/sup st/ order form closure. The authors further show that a grasp is 2/sup nd/ order force closure if and only if it is also 2/sup nd/ order form closure.