摘要
We proved a new necessary and sufficient condition for 2D three finger equilibrium grasps and implemented an geometrical algorithm for computing force closure grasps of arbitrary 2D objects in this article. The algorithm is quite simple and only needs some algebraic calculations. Finally, we implemented the algorithm and confirmed its usefulness by an example.
We proved a new necessary and sufficient condition for 2D three finger equilibrium grasps and implemented an geometrical algorithm for computing force closure grasps of arbitrary 2D objects in this article. The algorithm is quite simple and only needs some algebraic calculations. Finally, we implemented the algorithm and confirmed its usefulness by an example.
基金
SponsoredbytheNationalNaturalScienceFoundationofChina(GrantNo.60 275032)andScientificResearchFoundationofHIT(GrantNo.HIT 2 0 0 2 .2 6)
