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A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space

Published online by Cambridge University Press:  01 November 2011

Satoshi Ito ,
Kohta Tanaka  and
Minoru Sasaki
Satoshi Ito*
Affiliation:
Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan
Kohta Tanaka
Affiliation:
Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan
Minoru Sasaki
Affiliation:
Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan
*
*Corresponding author. Email: satoshi@gifu-u.ac.jp
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Summary

This paper considers the magnitude of the gripping power, i.e., the internal force that depends on the grasping posture or object orientation in a two-dimensional grasp by two contact points with friction. Expressing the effect of variations in the object posture as the direction of an external force, we propose an “internal force diagram.” The internal force necessary to create a statically stable grasp is depicted in the object coordinate frame. Then, a polar coordinate system is introduced in which the orientation represents the direction of the external force, while the distance from the origin represents the minimum necessary internal force. We demonstrate a method based on friction cone configurations to manually draw the internal force diagram, using only a ruler and a compass. The validity of this drawing method is confirmed by a comparison with computer-generated plots. Finally, the characteristics of the internal force diagram are discussed.

Keywords

GraspingGripping powerDiagram expressionInternal force magnitudeExternal force direction
Type
Articles
Information
Robotica , Volume 30 , Issue 5 , September 2012 , pp. 857 - 864
Copyright
Copyright © Cambridge University Press 2011

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