Book contents
- Frontmatter
- Contents
- 1 Introduction and Overview
- Part I Basic Geometry of the Grasping Process
- Part II Frictionless Rigid-Body Grasps and Stances
- Part III Frictional Rigid-Body Grasps and Stances
- 12 Wrench-Resistant Grasps
- 13 Grasp Quality Functions
- 14 Hand-Supported Stances under Gravity – Part I
- 15 Hand-Supported Stances under Gravity – Part II
- Part IV Grasping Mechanisms
- Appendix A Introduction to Non-Smooth Analysis
- Appendix B Summary of Stratified Morse Theory
- Index
12 - Wrench-Resistant Grasps
from Part III - Frictional Rigid-Body Grasps and Stances
Published online by Cambridge University Press: 03 October 2019
- Frontmatter
- Contents
- 1 Introduction and Overview
- Part I Basic Geometry of the Grasping Process
- Part II Frictionless Rigid-Body Grasps and Stances
- Part III Frictional Rigid-Body Grasps and Stances
- 12 Wrench-Resistant Grasps
- 13 Grasp Quality Functions
- 14 Hand-Supported Stances under Gravity – Part I
- 15 Hand-Supported Stances under Gravity – Part II
- Part IV Grasping Mechanisms
- Appendix A Introduction to Non-Smooth Analysis
- Appendix B Summary of Stratified Morse Theory
- Index
Summary
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- Type
- Chapter
- Information
- The Mechanics of Robot Grasping , pp. 301 - 320Publisher: Cambridge University PressPrint publication year: 2019