| contributor author | Z. Ji | |
| contributor author | B. Roth | |
| date accessioned | 2017-05-08T23:27:41Z | |
| date available | 2017-05-08T23:27:41Z | |
| date copyright | December, 1988 | |
| date issued | 1988 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28094#405_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/104171 | |
| description abstract | This paper deals with the computation of grasping forces for grasps using three-fingered tip-prehension. Of primary interest is the optimization of the internal forces and the direct computation of the grasping force. Using geometrical reasoning, we derive the conditions for minimizing the dependence of the internal forces on contact friction. Based on these conditions, formulas are derived for calculating the optimal internal and grasping forces. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258937 | |
| journal fristpage | 405 | |
| journal lastpage | 413 | |
| identifier eissn | 1528-9001 | |
| keywords | Force | |
| keywords | Grasping AND Computation | |
| tree | Journal of Mechanical Design:;1988:;volume( 110 ):;issue: 004 | |
| contenttype | Fulltext | |